A Maximum Speed Planning and Control Method of Intelligent Vehicle

Ang Chu, Kai Yu*, Shuaicong Yang, Jiaqi Chen, Daiwei Li, Bobo Jia, Yi Yang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In order to enhance the safety performance of intelligent vehicles and better exploit their maximum performance, this study investigates trajectory planning and motion control of vehicles under extreme conditions where tire friction reaches saturation, drawing inspiration from the motion characteristics of racing cars. Based on the three-degree-of-freedom vehicle dynamics model, an optimal control-based approach for generating the fastest trajectory is devised, and the vehicle’s optimal trajectory is obtained by solving an interior-point optimization problem. To address the issue of low control accuracy during high-speed driving, a feedforward-feedback lateral controller and a longitudinal controller based on throttle-brake calibration tables are designed. Simulation verification is conducted using a combined CarSim and Matlab environment. Finally, through comparative experiments, the effectiveness of the proposed lateral and longitudinal controllers in high-speed environments is validated.

Original languageEnglish
Title of host publicationProceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 7
EditorsYi Qu, Mancang Gu, Yifeng Niu, Wenxing Fu
PublisherSpringer Science and Business Media Deutschland GmbH
Pages468-477
Number of pages10
ISBN (Print)9789819711024
DOIs
Publication statusPublished - 2024
Event3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Nanjing, China
Duration: 9 Sept 202311 Sept 2023

Publication series

NameLecture Notes in Electrical Engineering
Volume1177 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Country/TerritoryChina
CityNanjing
Period9/09/2311/09/23

Keywords

  • Extreme maneuvers
  • Feedforward feedback control
  • Intelligent vehicle
  • Trajectory planning

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