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.
Design of Explicit and Lateral-Longitudinal Integrated Motion Controller with Safety Guarantee for Autonomous Vehicles
Lect.Notes Mechanical Engineering
Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024
04.10.2024
7 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 2018
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