典型文献
Driving Environment Uncertainty?Aware Motion Planning for Autonomous Vehicles
文献摘要：
Autonomous vehicles require safe motion planning in uncertain environments, which are largely caused by sur- rounding vehicles. In this paper, a driving environment uncertainty-aware motion planning framework is proposed to lower the risk of position uncertainty of surrounding vehicles with considering the risk of rollover. First, a 4-degree of freedom vehicle dynamics model, and a rollover risk index are introduced. Besides, the uncertainty of surrounding vehicles' position is processed and propagated based on the Extended Kalman Filter method. Then, the uncertainty potential field is established to handle the position uncertainty of autonomous vehicles. In addition, the model predictive controller is designed as the motion planning framework which accounts for the rollover risk, the position uncertainty of the surrounding vehicles, and vehicle dynamic constraints of autonomous vehicles. Furthermore, two edge cases, the cut-in scenario, and merging scenario are designed. Finally, the safety, effectiveness, and real-time performance of the proposed motion planning framework are demonstrated by employing a hardware-in-the-loop experiment bench.
文献关键词：
中图分类号：
作者姓名：
Xiaolin Tang;Kai Yang;Hong Wang;Wenhao Yu;Xin Yang;Teng Liu;Jun Li
作者机构：
College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044,China;Tsinghua Intelligent Vehicle Design and Safety Research Institute,Tsinghua University,Beijing 100084,China
文献出处：
引用格式：
[1]Xiaolin Tang;Kai Yang;Hong Wang;Wenhao Yu;Xin Yang;Teng Liu;Jun Li-.Driving Environment Uncertainty?Aware Motion Planning for Autonomous Vehicles)[J].中国机械工程学报,2022(05):104-117
A类：
B类：
Driving,Environment,Uncertainty,Aware,Motion,Planning,Autonomous,Vehicles,vehicles,require,motion,planning,environments,which,largely,caused,by,In,this,paper,driving,uncertainty,aware,framework,proposed,lower,risk,position,surrounding,considering,rollover,First,degree,freedom,dynamics,model,introduced,Besides,processed,propagated,Extended,Kalman,Filter,method,Then,potential,field,established,handle,autonomous,addition,predictive,controller,designed,accounts,constraints,Furthermore,two,edge,cases,cut,scenario,merging,Finally,safety,effectiveness,real,performance,demonstrated,employing,hardware,loop,experiment,bench
AB值：
0.509817
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