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• W4365147042 startingPage "169" @default.
• W4365147042 abstract "This paper proposes a double-layer model predictive control (MPC) algorithm for the integrated path planning and trajectory tracking of autonomous vehicles on roads. The upper module is responsible for generating collision-free lane trajectories, while the lower module is responsible for tracking this trajectory. A simplified vehicle model based on the friction cone is proposed to reduce the computation time for trajectory planning in the upper layer module. To achieve dynamic and accurate collision avoidance, a polygonal distance-based dynamic obstacle avoidance method is proposed. A vertical load calculation method for the tires is introduced to design the anti-rollover constraint in the lower layer module. Numerical simulations, with static and dynamic obstacle scenarios, are conducted on the MATLAB platform and compared with two state-of-the-art MPC algorithms. The results demonstrate that the proposed algorithm outperforms the other two algorithms regarding computation time and collision avoidance efficiency." @default.
• W4365147042 created "2023-04-13" @default.
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• W4365147042 date "2023-04-11" @default.
• W4365147042 modified "2023-10-17" @default.
• W4365147042 title "A Double-Layer Model Predictive Control Approach for Collision-Free Lane Tracking of On-Road Autonomous Vehicles" @default.
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• W4365147042 doi "https://doi.org/10.3390/act12040169" @default.
• W4365147042 hasPublicationYear "2023" @default.
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