Dynamic path planning and path following control for autonomous vehicle based on the piecewise affine tire model

This paper proposes a novel dynamic path planning and path following control method for collision avoidance, which works based on an improved piecewise affine tire model. The main contribution of this work is the design of a dynamic path planning method based on model predictive control, where it re...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Journal of automobile engineering, 2021-02, Vol.235 (2-3), p.881-893
Hauptverfasser:	Chen, Wuwei, Yan, Mingyue, Wang, Qidong, Xu, Kai
Format:	Artikel
Sprache:	eng
Schlagworte:	Collision avoidance Control methods Control stability Cost function Hierarchies Moving obstacles Predictive control Sideslip Stiffness coefficients Trajectory planning
Online-Zugang:	Volltext
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