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.


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    Title :

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


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:

    Conference:

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



    Publication date :

    2024-10-04


    Size :

    7 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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