Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 25, Issue 2, Pages 469-484Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2016.2569468
Keywords
Autonomous vehicle; collision avoidance; nonconvex optimization; nonlinear model predictive control (NLMPC); path following; real-time optimization
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This paper develops a two-stage nonlinear nonconvex control approach for autonomous vehicle driving during highway cruise conditions. The goal of the controller is to track the centerline of the roadway while avoiding obstacles. An outer-loop nonlinear model predictive control is adopted for generating the collision-free trajectory with the resultant input based on a simplified vehicle model. The optimization is solved through the generalized minimal residual method augmented with a continuation method. A sufficient condition to overcome limitations associated with continuation methods is introduced. The inner loop is a simple linear feedback controller based on an optimal preview distance. Simulation results illustrate the effectiveness of the approach. These are bolstered by scaled-vehicle experimental results.
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