TY  - JOUR
PY  - 2018//
TI  - Spatial-based predictive control and geometric corridor planning for adaptive cruise control coupled with obstacle avoidance
JO  - IEEE transactions on control systems technology
A1  - Graf Plessen, Mogens
A1  - Bernardini, Daniele
A1  - Esen, Hasan
A1  - Bemporad, Alberto
SP  - 38
EP  - 50
VL  - 26
IS  - 1
N2  - This paper presents an integrated control approach for autonomous driving comprising a corridor path planner that determines constraints on vehicle position, and a linear time-varying model predictive controller combining path planning and tracking in a road-aligned coordinate frame. The capabilities of the approach are illustrated in obstacle-free curved road-profile tracking, in an application coupling adaptive cruise control (ACC) with obstacle avoidance (OA), and in a typical driving maneuver on highways. The vehicle is modeled as a nonlinear dynamic bicycle model with throttle, brake pedal position, and steering angle as control inputs. Proximity measurements are assumed to be available within a given range field surrounding the vehicle. The proposed general feedback control architecture includes an estimator design for fusion of database information (maps), exteroceptive as well as proprioceptive measurements, a geometric corridor planner based on graph theory for the avoidance of multiple, potentially dynamically moving objects, and a spatial-based predictive controller. Switching rules for transitioning between four different driving modes, i.e., ACC, OA, obstacle-free road tracking (RT), and controlled braking (Brake), are discussed. The proposed method is evaluated on test cases, including curved and highway two-lane road tracks with static as well as moving obstacles. Copyright © 2017, Institute of Electrical and Electronics Engineers. <br><br>KEYWORDS: Bicycles; Bicyclists; Bicycling<p /> <p>Language: en</p>
LA  - en
SN  - 1063-6536
UR  - http://dx.doi.org/10.1109/TCST.2017.2664722
ID  - ref1
ER  -