Safe driving envelopes for path tracking in autonomous vehicles

One approach to motion control of autonomous vehicles is to divide control between path planning and path tracking. This paper introduces an alternative control framework that integrates local path planning and path tracking using model predictive control (MPC). The controller plans trajectories, co...

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Veröffentlicht in:	Control engineering practice Jg. 61; S. 307 - 316
Hauptverfasser:	Brown, Matthew, Funke, Joseph, Erlien, Stephen, Gerdes, J. Christian
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 01.04.2017
Schlagworte:	Autonomous vehicles First-order hold Model predictive control Obstacle avoidance Path tracking Vehicle stability Vehicle stability Model predictive control Path tracking First-order hold Obstacle avoidance Autonomous vehicles
ISSN:	0967-0661, 1873-6939
Online-Zugang:	Volltext
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