[PDF][PDF] 无人驾驶车辆的运动控制发展现状综述
熊璐， 杨兴， 卓桂荣， 冷搏， 章仁夑 - 机械工程学报, 2020 - scholar.archive.org
回顾无人驾驶车辆的运动控制问题. 从系统模型, 控制方法以及控制结构等角度切入,
分别在纵向运动控制, 路径跟踪控制和轨迹跟踪控制三个层面对国内外的研究进展进行综述 …
分别在纵向运动控制, 路径跟踪控制和轨迹跟踪控制三个层面对国内外的研究进展进行综述 …
Research advances and challenges of autonomous and connected ground vehicles
Autonomous vehicle (AV) technology can provide a safe and convenient transportation
solution for the public, but the complex and various environments in the real world make it …
solution for the public, but the complex and various environments in the real world make it …
Parallel learning-based steering control for autonomous driving
Steering control for autonomous vehicles at high speeds is challenging due to the highly
nonlinear vehicle dynamics. The traditional model-based controllers usually degrade …
nonlinear vehicle dynamics. The traditional model-based controllers usually degrade …
Combined speed and steering control in high-speed autonomous ground vehicles for obstacle avoidance using model predictive control
This paper presents a model predictive control-based obstacle avoidance algorithm for
autonomous ground vehicles at high speed in unstructured environments. The novelty of the …
autonomous ground vehicles at high speed in unstructured environments. The novelty of the …
Dynamic trajectory planning and tracking for autonomous vehicle with obstacle avoidance based on model predictive control
S Li, Z Li, Z Yu, B Zhang, N Zhang - Ieee Access, 2019 - ieeexplore.ieee.org
In this study, an obstacle avoidance controller based on nonlinear model predictive control
is designed in autonomous vehicle navigation. The reference trajectory is predefined using …
is designed in autonomous vehicle navigation. The reference trajectory is predefined using …
Impacts of model fidelity on trajectory optimization for autonomous vehicles in extreme maneuvers
JK Subosits, JC Gerdes - IEEE Transactions on Intelligent …, 2021 - ieeexplore.ieee.org
In this paper, we quantify the impacts of model fidelity on the effectiveness of trajectory
optimization for autonomous vehicles when driving at the limits of friction through …
optimization for autonomous vehicles when driving at the limits of friction through …
A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments
This paper presents a nonlinear model predictive control (MPC) formulation for obstacle
avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre …
avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre …
Long-horizon vehicle motion planning and control through serially cascaded model complexity
VA Laurense, JC Gerdes - IEEE Transactions on Control …, 2021 - ieeexplore.ieee.org
The computational burden of nonlinear model predictive control (NMPC) often limits its use
to short planning horizons, simple systems with slow dynamics, offline applications, or …
to short planning horizons, simple systems with slow dynamics, offline applications, or …
Model predictive-based tractor-trailer stabilisation using differential braking with experimental verification
Different types of instability modes in tractor-trailer vehicles, including jackknifing and
snaking, necessitate designing a fast and effective control strategy. In this paper, a model …
snaking, necessitate designing a fast and effective control strategy. In this paper, a model …
Collision imminent steering at high speed using nonlinear model predictive control
Collision imminent steering is an automotive active safety feature designed to perform an
aggressive lane change to avoid a forward collision in the event that the system determines …
aggressive lane change to avoid a forward collision in the event that the system determines …