A motion planning method for autonomous vehicles confronting emergency situations where collision is inevitable, generating a path to mitigate the crash as much as possible, is proposed in this paper. The Model predictive control (MPC) algorithm is adopted here for motion planning. If avoidance is impossible for the model predictive motion planning system, the potential crash severity, and artificial potential field are filled into the controller objective to achieve general obstacle avoidance and the lowest crash severity. Furthermore, the vehicle dynamic is also considered as an optimal control problem. Based on the analysis mentioned earlier, the model predictive controller can optimize the command following, obstacle avoidance, vehicle dynamics, road regulation, and mitigate the inevitable crash based on the predicted values. The proposed MPC algorithm has been proved by simulation to have the ability to avoid obstacles and mitigate the crash if collision is inevitable.


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    Title :

    Crash Mitigation in Motion Planning for Autonomous Vehicles


    Contributors:


    Publication date :

    2019-09-01


    Size :

    2909292 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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