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Research on Trajectory Planning and Tracking Strategy of Lane-changing and Overtaking based on PI-MPC Dual Controllers
Technical Paper
2021-01-1262
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
Aiming at the problem of poor robustness after the combination of lateral
kinematics control and lateral dynamics control when an autonomous vehicle
decelerates and changes lanes to overtake at a certain distance. This paper
proposes a trajectory determination and tracking control method based on a
PI-MPC dual algorithm controller. To describe the longitudinal deceleration that
satisfies the lateral acceleration limit during a certain distance of lane
change, firstly, a fifth-order polynomial and a uniform deceleration motion
formula are established to express the lateral and longitudinal displacements,
and a model prediction controller (MPC) is used to output the front wheel
rotation angle. Through the dynamic formula and the speed proportional-integral
(PI) controller to control and adjust the brake pressure. Based on simulation to
optimize the best lane change completion time coefficient at different
longitudinal lane change speeds, the relationship between the vehicle collision
avoidance stable lane change time and the real-time vehicle speed and
deceleration is obtained, then it is optimized by neural network algorithm, to
avoid the vehicle collision avoidance and deceleration change unstable
performance such as rollover occurred during the road. Finally, the simulation
verification of the deceleration and lane changing to overtake conditions at a
certain initial vehicle speed shows that the maximum lateral acceleration is
3.03m/s2, and the error from the maximum allowable acceleration
is 1%. The maximum error of the yaw angle is 0.8°, and the maximum lateral
acceleration is 3.22m/s2 and 3.16m/s2 respectively, which
does not exceed the allowable acceleration of 4m/s2, which satisfies
the lateral stability of the vehicle. Therefore, in the study of trajectory
planning and tracking control of autonomous vehicles, the controller can improve
the control robustness of decelerating and changing lanes.
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Authors
Topic
Citation
Yin, J., Chen, X., Zu, B., Xu, Y. et al., "Research on Trajectory Planning and Tracking Strategy of Lane-changing and Overtaking based on PI-MPC Dual Controllers," SAE Technical Paper 2021-01-1262, 2021, https://doi.org/10.4271/2021-01-1262.Data Sets - Support Documents
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