Thumbnail
Access Restriction
Open

Author Yin, Guodong ♦ Chen, Nan ♦ Li, Jianghu ♦ Jin, Xianjian ♦ Bian, Chentong
Source Directory of Open Access Journals (DOAJ)
Content type Text
Publisher Vilnius Gedinimas Technical University
File Format HTM / HTML
Date Created 2018-08-14
Copyright Year ©2015
Language English
Subject Domain (in LCC) TA1001-1280
Subject Keyword Model predictive control ♦ Motion planning ♦ Civil engineering ♦ Engineering ♦ Technology ♦ Autonomous electric vehicles ♦ Transportation engineering
Abstract This paper introduces the development of an autonomous driving system in autonomous electric vehicles, which consists of a simplified motion-planning program and a Model-Predictive-Control-Based (MPC-based) control system. The motion-planning system is based on polynomial parameterization, which computes a path toward the expected longitudinal and lateral positions within required time interval in real scenarios. Then the MPC-based control system cooperates the front steering and individual wheel torques to track the planned trajectories, while fulfilling the physical constraints of actuators. The proposed system is evaluated through simulation, using a seven-degrees-offreedom vehicle model with a ‘magic formula’ tire model. The simulations and validation through CarSim show that the proposed planner algorithm and controller are feasible and can achieve requirements of autonomous driving in normal scenarios.
ISSN 16484142
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2015-10-01
e-ISSN 16484142
Journal Transport
Volume Number 30
Issue Number 3


Source: Directory of Open Access Journals (DOAJ)