NDLI: Mixed local motion planning and tracking control framework for autonomous vehicles based on model predictive control

Content Provider	IET Digital Library
Author	Yuan, Kang Shu, Hong Huang, Yanjun Zhang, Yubiao Khajepour, Amir Zhang, Lin
Abstract	This study proposes a novel mixed motion planning and tracking (MPT) control framework for autonomous vehicles (AVs) based on model predictive control (MPC), which is made up of an MPC-based longitudinal motion planning module, a feed-forward longitudinal motion tracking module, and an MPC-based integrated lateral motion planning and tracking module. First, given the global reference path and the surroundings information obtained from onboard devices and V2X network, the longitudinal motion planning based on a vehicle kinematics model is applied to determine the local target path, the desired longitudinal acceleration, and velocity considering the longitudinal safety priority. Then, based on the planned target path and longitudinal velocity, the integrated lateral MPT module based on a 2 degree-of-freedom vehicle model is developed to determine the optimal steering angle while satisfying the multiple kinematics and dynamics constraints. Finally, based on the desired longitudinal acceleration and the steering angle, the longitudinal forces of tires are determined. More importantly, co-simulations under several typical scenarios between MATLAB/Simulink and CarSim are conducted, and the results demonstrate excellent performance of the proposed mixed framework in both planning and tracking and also its real-time implementation.
Starting Page	950
Ending Page	959
Page Count	10
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 6, Jun (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5387
Journal	IET Intelligent Transport Systems
Publisher Date	2018-11-20
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	2 Degree-of-freedom Vehicle Model Autonomous Vehicle Control System Analysis Control System Synthesis Feed-forward Longitudinal Motion Tracking Module Global Reference Path Integrated Lateral MPT Module Lateral Motion Planning Local Target Path Longitudinal Acceleration Longitudinal Safety Priority Longitudinal Velocity Mixed Motion Planning Model Predictive Control Motion Control MPC-based Longitudinal Motion Planning Module Optimal Control Path Planning Planned Target Path Predictive Control Road Safety Road Traffic System Control Road Vehicle Spatial Variables Control Steering System Synthesis Method Tracking Control Framework Tyres Vehicle Dynamics Vehicle Kinematics Model
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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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