DocumentCode :
2366639
Title :
Control strategy for high-speed autonomous driving in structured road
Author :
Kim, Dongwook ; Kang, Juyoung ; Yi, Kyoungsu
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
fYear :
2011
fDate :
5-7 Oct. 2011
Firstpage :
186
Lastpage :
191
Abstract :
This paper presents an control strategy for high-speed autonomous vehicles as an active safety procedure. Safe trajectories are generated using the modified steer field method, in which the simplified dynamics of the vehicle are used to predict the state of the vehicle over the look-ahead horizon. To compensate for the dissimilarity between the simplified model and the actual vehicle, a separate controller is designed to track the generated trajectory. The longitudinal dynamics of the vehicle are controlled using the inverse dynamics of the vehicle powertrain model, and the lateral dynamics are controlled using a linear quadratic regulator. Simulation results on a full non-linear vehicle model show that the proposed combination of path planning algorithm and path tracking algorithm gives satisfactory online obstacle avoidance and path tracking performance.
Keywords :
collision avoidance; linear quadratic control; power transmission (mechanical); road traffic; vehicle dynamics; control strategy; full nonlinear vehicle model; high-speed autonomous driving; high-speed autonomous vehicle; inverse dynamics; linear quadratic regulator; longitudinal dynamics; modified steer field method; online obstacle avoidance; path planning; path tracking performance; safe trajectory; structured road; vehicle dynamics; vehicle powertrain model; Acceleration; Mathematical model; Roads; Trajectory; Vehicle dynamics; Vehicles; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on
Conference_Location :
Washington, DC
ISSN :
2153-0009
Print_ISBN :
978-1-4577-2198-4
Type :
conf
DOI :
10.1109/ITSC.2011.6082856
Filename :
6082856
Link To Document :
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