TY - GEN
T1 - Model predictive control-based lane change control system for an autonomous vehicle
AU - Huang, Chao
AU - Naghdy, Fazel
AU - Du, Haiping
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/22
Y1 - 2016/11/22
N2 - Autonomous vehicle have attracted more attention in recent years as vehicle applications are evolving to a more intelligent and autonomous stage. Lane-change maneuverer is one of the most thoroughly investigated automatic driving operations for autonomous vehicle. This paper presents a lane change control system for an autonomous vehicle which consists of a path generator and model-predictive-control-based vehicle steering and wheel torque control. The path generator, based on convex optimization, generates a collision-free trajectory when a vehicle collision with vehicles in a two-way path is likely. The lane change manoeuver for collision avoidance is performed using the MPC-based control system to control the front wheel angle, rear wheel angles and individual wheel torques to track the desired path. The proposed system is evaluated through simulation by using an eight-degrees-of-freedom vehicle model and Dugoff tire model.
AB - Autonomous vehicle have attracted more attention in recent years as vehicle applications are evolving to a more intelligent and autonomous stage. Lane-change maneuverer is one of the most thoroughly investigated automatic driving operations for autonomous vehicle. This paper presents a lane change control system for an autonomous vehicle which consists of a path generator and model-predictive-control-based vehicle steering and wheel torque control. The path generator, based on convex optimization, generates a collision-free trajectory when a vehicle collision with vehicles in a two-way path is likely. The lane change manoeuver for collision avoidance is performed using the MPC-based control system to control the front wheel angle, rear wheel angles and individual wheel torques to track the desired path. The proposed system is evaluated through simulation by using an eight-degrees-of-freedom vehicle model and Dugoff tire model.
KW - autonomous vehicle
KW - Lane change control
KW - model predictive control
KW - vehicle safety
UR - http://www.scopus.com/inward/record.url?scp=85015428213&partnerID=8YFLogxK
U2 - 10.1109/TENCON.2016.7848673
DO - 10.1109/TENCON.2016.7848673
M3 - Conference article published in proceeding or book
AN - SCOPUS:85015428213
T3 - IEEE Region 10 Annual International Conference, Proceedings/TENCON
SP - 3349
EP - 3354
BT - Proceedings of the 2016 IEEE Region 10 Conference, TENCON 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE Region 10 Conference, TENCON 2016
Y2 - 22 November 2016 through 25 November 2016
ER -