NDLI: Comprehensive predictive control method for automated vehicles in dynamic traffic circumstances

Content Provider	IET Digital Library
Author	Liu, Wei Li, Zhiheng
Abstract	Motion control problems remain to be fully solved for automated vehicles in dynamic traffic circumstances. Existing approaches usually first make a driving behaviour decision, then design a reference trajectory that may not match the vehicle dynamic constraints explicitly and finally adopt a local feedback control method to track the reference. Important commands may be lost or not well translated in the process of information exchange and transmission. Moreover, multiple methods specifically designed for different tasks may not cooperate well in one system. In this study, the authors propose a comprehensive predictive control method which can directly generate the control commands from the traffic circumstance and the vehicle dynamics, without involving any driving decision-making modules and any predefined reference trajectories. Virtual potential fields are introduced to model the traffic circumstance including the road boundaries, lane markings and moving obstacle vehicles. A model predictive control problem is formulated with the overall potential function and constraints including the vehicle dynamics and the safety distances between the ego vehicle and other vehicles. Lane keeping, lane changing, car following and overtaking driving behaviours are simulated in different scenarios. Results show that this method is capable of controlling the automated vehicle in different traffic circumstances.
Starting Page	1455
Ending Page	1463
Page Count	9
ISSN	1751956X
Volume Number	12
e-ISSN	17519578
Issue Number	Issue 10, Dec (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/12/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5142
Journal	IET Intelligent Transport Systems
Publisher Date	2018-09-11
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Automated Vehicle Car Following Comprehensive Predictive Control Method Control Commands Decision Making Driving Behaviour Decision Driving Decision-making Module Dynamic Traffic Circumstances Ego Vehicle Feedback Information Exchange Process Information Transmission Lane Changing Lane Keeping Lane Markings Local Feedback Control Method Model Predictive Control Problem Motion Control Motion Control Problem Moving Obstacle Vehicle Multiple Method Optimal Control Overtaking Driving Behaviour Predictive Control Reference Trajectory Design Road Boundaries Road Traffic Control Road Traffic System Control Road Vehicle Safety Distances Spatial Variables Control Vehicle Dynamic Constraint Vehicle Dynamics Virtual Potential Field
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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