Lane changes in multi-vehicle driving environments are one of the most challenging manoeuvres for autonomous vehicles. The key innovation of this study is to develop an integrated longitudinal and lateral trajectory planning and tracking control algorithm under vehicle-to-vehicle communication. This algorithm includes two levels: trajectory planning and path-following control. In the upper level, considering riding comfort, a collision-free lane-changing trajectory cluster is generated under different lane change durations. Then, the most appropriate trajectory from this cluster is provided by selecting the optimal lane change duration considering vehicle dynamics safety, collision avoidance of surrounding vehicles and driver preference. At the bottom level, a multiple-input multiple-output triple-step non-linear approach is proposed in the longitudinal and lateral path-following controller design. The stability of the closed-loop system is rigorously proven based on the Lyapunov function. Finally, the effectiveness of the proposed algorithm is verified with a high-fidelity and full-car model on the veDYNA platform.
Longitudinal and lateral control of autonomous vehicles in multi-vehicle driving environments
IET Intelligent Transport Systems ; 14 , 8 ; 924-935
2020-06-16
12 pages
Article (Journal)
Electronic Resource
English
longitudinal trajectory planning , tracking control algorithm , longitudinal path-following controller design , path-following control , full-car model , vehicular ad hoc networks , autonomous vehicles , mobile robots , lateral path-following controller design , vehicle dynamics safety , multiple-input multiple-output triple-step nonlinear approach , MIMO systems , road traffic , collision avoidance , driver preference , nonlinear control systems , collision-free lane-changing trajectory cluster , riding comfort , human factors , veDYNA platform , stability , vehicle dynamics , closed loop systems , multivehicle driving environments , road vehicles , road safety , control system synthesis , optimal lane change duration , Lyapunov methods , high-fidelity model , trajectory control , closed-loop system stability , Lyapunov function , lateral trajectory planning , vehicle-to-vehicle communication
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