Model Predictive Path-Planning Controller With Potential Function for Emergency Collision Avoidance on Highway Driving
Model Predictive Path-Planning Controller With Potential Function for Emergency Collision Avoidance on Highway Driving
复制标题
具有高速公路行驶紧急避碰功能的模型预测路径规划控制器
DOI：
10.1109/lra.2022.3152693
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发表时间：
2022
影响因子：
5.2
通讯作者：
Tsukada Manabu
中科院分区：
文献类型：
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作者：
Lin Pengfei;Tsukada Manabu
现有的潜在功能（PF）用于自动驾驶汽车主要集中在解决一些传统的驾驶场景中的路径规划问题，因此，他们的表现可能不令人满意的情况下，紧急避障。因此，我们提出了一种新的模型预测路径规划控制器（MPPC）结合PF来处理复杂的交通场景（例如，发生突发事故时紧急避让）。具体来说，为了提高安全的PF，我们开发了一个MPPC处理紧急情况下，S形为基础的安全通道嵌入MPC约束（SPMPC）与特定的触发分析算法监测交通紧急情况。所提出的PF-SPMPC算法编译的比较仿真研究，使用MATLAB/Simulink和CarSim。该算法优于最新的PF-MPC方法，以消除严重的轮胎振荡，并保证自动驾驶安全时，处理交通紧急回避情况。
Existing potential functions (PFs) utilized in autonomous vehicles mainly focus on solving the path-planning problems in some conventional driving scenarios; thus, their performance may not be satisfactory in the context of emergency obstacle avoidance. Therefore, we propose a novel model predictive path-planning controller (MPPC) combined with PFs to handle complex traffic scenarios (e.g., emergency avoidance when a sudden accident occurs). Specifically, to enhance the safety of the PFs, we developed an MPPC to handle an emergency case with a sigmoid-based safe passage embedded in the MPC constraints (SPMPC) with a specific triggering analysis algorithm on monitoring traffic emergencies. The presented PF-SPMPC algorithm was compiled in a comparative simulation study using MATLAB/Simulink and CarSim. The algorithm outperformed the latest PF-MPC approach to eliminate the severe tire oscillations and guarantee autonomous driving safety when handling the traffic emergency avoidance scenario.