An integrated multi-constraint nonlinear model predictive control method is proposed to solve the problem of active obstacle avoidance under high speed emergency conditions. The intervention and exit mechanism of the integrated control algorithm is set through the minimum braking distance and obstacle information under the current state of the vehicle. According to different obstacle avoidance scenarios, the integrated path tracking controller integrates the obstacle information into the objective function by setting the obstacle avoidance risk index function, so as to realize multi-objective optimization and calculate the front steering angle. The results of simulation and vehicle ground test show that the proposed integrated control method can realize obstacle avoidance more effectively, and the path tracking controller provides dynamic tracking performance and maneuverability.


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    Title :

    Integrated Path Tracking for Autonomous Vehicle Collision Avoidance Based on Model Predictive Control With Multi-constraints


    Contributors:
    Xiong, Lu (author) / Liu, Ming (author) / Yang, Xing (author) / Leng, Bo (author)


    Publication date :

    2022-10-08


    Size :

    894245 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English