Constrained Trajectory Planning for Second-Order Chained Form Systems Using Time Polynomials

Голубев, А. Е.

doi:10.1016/j.ifacol.2020.12.1562

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Cited by 2 publications

References 13 publications

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Cerebral Blood Flow Regulation Using Nonlinear Control Theory Tools

Голубев

2022

2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference)

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Cerebral Blood Flow Regulation Using Nonlinear Control Theory Tools

Голубев

2022

2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference)

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Lateral collision avoidance stability control study of intelligent vehicles on low adherence roads

Weng,

Yu,

Yuan

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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To enhance lateral collision avoidance safety for intelligent vehicles on various road surfaces, this paper proposes a collision avoidance algorithm specifically designed for low-adhesion roads. The study begins by a fuzzy control lane change decision model that considers the relative state information between the ego vehicle and the front vehicle. Next, the environment risk potential field is modeled, with multiple lane change paths of varying parameters considered as candidate trajectories. Critical risks during vehicle steering are analyzed, leading to the design of a dynamic instability boundary risk point potential field. Trajectory optimization is then performed using the Particle Swarm Optimization (PSO) algorithm. Finally, a fuzzy PID controller is developed to track the optimal trajectory. Simulation results demonstrate that, compared to the traditional artificial potential field method, the proposed collision avoidance algorithm provides better lateral stability in the planned paths. Additionally, the fuzzy PID controller designed in this study outperforms the Quantitative Feedback Theory (QFT) controller in terms of tracking accuracy.

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Constrained Trajectory Planning for Second-Order Chained Form Systems Using Time Polynomials

Cited by 2 publications

References 13 publications

Cerebral Blood Flow Regulation Using Nonlinear Control Theory Tools

Cerebral Blood Flow Regulation Using Nonlinear Control Theory Tools

Lateral collision avoidance stability control study of intelligent vehicles on low adherence roads

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