Model predictive control (MPC) is an effective method in lateral-longitudinal integrated control with safety guarantee for autonomous vehicles. But its computational burden is significant, making it challenging to meet real-time requirements. The contribution of this paper is to propose an explicitly solvable autonomous vehicle motion controller with lateral-longitudinal integrated characteristics and safety guarantee, achieved by integrating input-output controllers from exponential control Lyapunov function (ECLF) and exponential control barrier function (ECBF). We performed simulations using a high-fidelity dynamics model in CarSim for simple urban traffic scenarios. The simulation results demonstrate that our designed controller has good trajectory tracking performance, safety guarantee, low computational burden and a certain level of robustness.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Design of Explicit and Lateral-Longitudinal Integrated Motion Controller with Safety Guarantee for Autonomous Vehicles


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Mastinu, Giampiero (Herausgeber:in) / Braghin, Francesco (Herausgeber:in) / Cheli, Federico (Herausgeber:in) / Corno, Matteo (Herausgeber:in) / Savaresi, Sergio M. (Herausgeber:in) / Gao, Haoyu (Autor:in) / Liu, Chang (Autor:in) / Piao, Yingxi (Autor:in) / Yang, Sen (Autor:in) / Jiang, Beiyan (Autor:in)

    Kongress:

    Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024



    Erscheinungsdatum :

    04.10.2024


    Format / Umfang :

    7 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Integrated lateral and longitudinal control system for autonomous vehicles

    Bae, Il / Jaeyoung Moon / Jaekwang Cha et al. | IEEE | 2014


    LATERAL CONTROLLER FOR AUTONOMOUS VEHICLES

    WENGERT NICOLAI / KUEHNLE FLORIAN | Europäisches Patentamt | 2025

    Freier Zugriff



    EFFICIENT MIXED-INTEGER PROGRAMMING FOR LONGITUDINAL AND LATERAL MOTION PLANNING OF AUTONOMOUS VEHICLES

    Miller, Christina / Pek, Christian / Althoff, Matthias | British Library Conference Proceedings | 2018