Hierarchical Design of Highway Merging Controller Using Navigation Vector Fields Under Bounded Sensing Uncertainty
Hierarchical Design of Highway Merging Controller Using Navigation Vector Fields Under Bounded Sensing Uncertainty
复制标题
有界感知不确定性下导航矢量场高速公路合道控制器的分层设计
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Dimitra Panagou
中科院分区：
文献类型：
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作者：
Lixing Huang;Dimitra Panagou
本文提出了一种分层控制设计的自主汽车（自我车辆）通过高速公路上的交通运动。假设自车以有界误差感知周围汽车的位置和速度，其目标是在车流中安全行驶。该设计是由一个低层次的跟踪控制器和一个高层次的决策过程：低层次的控制器是基于导航矢量场和速度控制器，安全驾驶的自我汽车选定的合并点。基于捕获交通状况的成本函数来决定合并点。仿真结果验证了该算法的有效性。
This paper presents a hierarchical control design for the motion of an autonomous car (ego-vehicle) through traffic on a highway. The ego-vehicle is assumed to sense the position and speed of the surrounding cars with bounded errors, and its objective is to move safely among traffic. The design is composed of a low-level tracking controller and a high-level decision-making process: the low-level controller is based on a navigation vector field and a velocity controller that safely drive the ego-car to selected merging points. The merging points are decided based upon a cost function capturing the traffic conditions. Simulation results demonstrate the efficacy of the proposed algorithm.