NDLI: Longitudinal and lateral control of autonomous vehicles in multi-vehicle driving environments

Content Provider	IET Digital Library
Author	Wang, Yulei Shao, Qian Zhou, Jian Zheng, Hongyu Chen, Hong
Abstract	Lane changes in multi-vehicle driving environments are one of the most challenging manoeuvres for autonomous vehicles. The key innovation of this study is to develop an integrated longitudinal and lateral trajectory planning and tracking control algorithm under vehicle-to-vehicle communication. This algorithm includes two levels: trajectory planning and path-following control. In the upper level, considering riding comfort, a collision-free lane-changing trajectory cluster is generated under different lane change durations. Then, the most appropriate trajectory from this cluster is provided by selecting the optimal lane change duration considering vehicle dynamics safety, collision avoidance of surrounding vehicles and driver preference. At the bottom level, a multiple-input multiple-output triple-step non-linear approach is proposed in the longitudinal and lateral path-following controller design. The stability of the closed-loop system is rigorously proven based on the Lyapunov function. Finally, the effectiveness of the proposed algorithm is verified with a high-fidelity and full-car model on the veDYNA platform.
Starting Page	924
Ending Page	935
Page Count	12
ISSN	1751956X
Volume Number	14
e-ISSN	17519578
Issue Number	Issue 8, Aug (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/14/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2019.0846
Journal	IET Intelligent Transport Systems
Publisher Date	2020-04-27
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Autonomous Vehicle Closed Loop System Closed-loop System Stability Collision Avoidance Collision-free Lane-changing Trajectory Cluster Control System Analysis Control System Synthesis Driver Preference Full-car Model High-fidelity Model Human Factors Lateral Path-following Controller Design Lateral Trajectory Planning Longitudinal Path-following Controller Design Longitudinal Trajectory Planning Lyapunov Function Lyapunov Method MIMO System Mobile Radio System Mobile Robots Multiple-input Multiple-output Triple-step Nonlinear Approach Multivariable Control System Multivehicle Driving Environments Nonlinear Control System Optimal Lane Change Duration Path-following Control Riding Comfort Road Safety Road Traffic Road Traffic System Control Road Vehicle Spatial Variables Control Stability Stability in Control Theory Synthesis Method Tracking Control Algorithm Trajectory Control VeDYNA Platform Vehicle Dynamics Vehicle Dynamics Safety Vehicle Mechanics Vehicle-to-vehicle Communication Vehicular Ad Hoc Network
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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