TY  - JOUR
PY  - 2023//
TI  - Planning and control of autonomous driving in lane-change manoeuvre based on MPC: a framework and design principles
JO  - International journal of vehicle design
A1  - Zhao, Zhiwei
A1  - Yuan, Kang
A1  - Du, Jiatong
A1  - Wang, Yulei
A1  - Huang, Yanjun
A1  - Chen, Hong
SP  - 357
EP  - 381
VL  - 92
IS  - 2/3/4
N2  - To realise a safe trajectory planning and control performance based on model predictive control (MPC) and investigate the effects of MPC horizons on the system performance, this paper proposes a longitudinal-lateral decoupled trajectory planning method with a safety guarantee principle and develops an MPC tracking controller using the vehicle dynamics model. Besides, the effects of the planning horizon and the control horizon on lane-changing performance are investigated. Finally, a comprehensive evaluation indicator considering safety, comfort, and efficiency is proposed to provide recommended prediction horizons for different styles of driving behaviour. Several cases are studied and the results validate the effectiveness of the proposed method.<p />  <p>Language: en</p>
LA  - en
SN  - 0143-3369
UR  - http://dx.doi.org/10.1504/IJVD.2023.134754
ID  - ref1
ER  -