Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

Ni, Jun; Hu, Jibin

doi:10.1016/j.ymssp.2016.12.017

Cited by 89 publications

(47 citation statements)

References 34 publications

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“…Various research studies have focused on the trajectory planning and motion control of autonomous driving technologies [4][5][6]. In order to achieve good results in the respective lane change maneuvers, most of these proposed cooperative planning algorithms for autonomous driving employed a rule-based control [7,8] or an optimization-based control [2,9].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Qiao

2020

Applied Sciences

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A lane change is one of the most important driving scenarios for autonomous driving vehicles. This paper proposes a safe and comfort-oriented algorithm for an autonomous vehicle to perform lane changes on a straight and level road. A simplified Gray Prediction Model is designed to estimate the driving status of surrounding vehicles, and time-variant safety margins are employed during the trajectory planning to ensure a safe maneuver. The algorithm is able to adapt its lane changing strategy based on traffic situation and passenger demands, and features condition-triggered rerouting to handle unexpected traffic situations. The concept of dynamic safety margins with different settings of parameters gives a customizable feature for the autonomous lane changing control. The effect of the algorithm is verified within a self-developed traffic simulation system.

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Section: Introductionmentioning

confidence: 99%

Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Qiao

2020

Applied Sciences

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“…In general, a control logic has a great number of reliable signals, but, in order to perform its tasks in a few milliseconds, must fix the reference values for the controlled variables [5] adopting either: control maps or very light and simplified reference models. In the last years, a great number of papers, dealing with control logic developments, have been published in the specific literature [6]. With reference to vehicle dynamics control logics, typically, the reference values are fixed based on linearized models [7], simplified bicycle models [8], [9] or static control maps [10].…”

Section: Introductionmentioning

confidence: 99%

Precursors of Instability for a Vehicle Traveling in Curve

Massa

Pastore

Russo

et al. 2019

IREMOS

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Nowadays, the automotive field takes care of human safety in the everyday driving. In this sense, the vehicle dynamics control systems and ADAS (Advanced Driver Assistance System) play a crucial role for both active and passive safety. In terms of handling, the critical issues for the everyday driver are during braking or steering maneuvers: the main idea of this paper is to investigate the possibility to recognize some critical behaviors leading to vehicle instability, using only the wheel sensors signals, already available as mandatory in actual passenger car (in particular for ABS). In order to do this, a seven degrees of freedom model of a vehicle that runs in a curve with constant longitudinal speed is formulated. With no particular reference to the power unit (IC motor or electrical motors), three different traction schemes configurations are considered. The numerical solutions of the model are analyzed to evaluate their stability, the associated modal shapes and the modal participation factors. A systematic analysis allows recognizing some vehicle behaviors that may constitute instability precursors useful to develop a suitable control logic. Results provided by both a standard vehicle dynamics simulation software and a "on-road" test are presented and discussed to verify the actual feasibility of the proposed precursors employment.

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“…This area is one of the most challenging topics in automated driving because it must deal with a great number of task, as generation of smooth trajectories [12], speed profiles based on fuel consumption and comfort [13], obstacles avoidance [14], and even doing coordination among other participants to execute a maneuver [15].…”

Section: Introductionmentioning

confidence: 99%

Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

Lattarulo

Gonzalez

Martí

et al. 2018

Journal of Advanced Transportation

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In last decades, great technology advances have been done related to the automotive sector, especially in Advanced Driver Assistance Systems (ADAS) developed to improve mobility in terms of comfort and safety during driving process; hence, automated driving is presented as an evolution of those systems in the present and upcoming years. The aim of this work is to present a complete framework of motion planning for automated vehicles, considering different constraints with parametric curves for lateral and longitudinal planners. Parametric Bézier curves are used as the core approach for trajectory design in intersections, roundabouts, and lane change maneuvers. Additionally, a speed planner algorithm is presented using the same parametric curve approach, considering comfort and safety. A simulation environment is used for testing the planning method in urban conditions. Finally, tests with the real platform in automated mode have been performed showing goods results.

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Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

Cited by 89 publications

References 34 publications

Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Precursors of Instability for a Vehicle Traveling in Curve

Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

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