典型文献
Post?Impact Motion Planning and Tracking Control for Autonomous Vehicles
文献摘要：
There is an increasing awareness of the need to reduce traffic accidents and fatality due to vehicle collision. Post- impact hazards can be more serious as the driver may fail to maintain effective control after collisions. To avoid subsequent crash events and to stabilize the vehicle, this paper proposes a post-impact motion planning and stability control method for autonomous vehicles. An enabling motion planning method is proposed for post-impact situa- tions by combining the polynomial curve and artificial potential field while considering obstacle avoidance. A hierar-chical controller that consists of an upper and a lower controller is then developed to track the planned motion. In the upper controller, a time-varying linear quadratic regulator is presented to calculate the desired generalized forces. In the lower controller, a nonlinear-optimization-based torque allocation algorithm is proposed to optimally coordinate the actuators to realize the desired generalized forces. The proposed scheme is verified under comprehensive driving scenarios through hardware-in-loop tests.
文献关键词：
中图分类号：
作者姓名：
Cong Wang;Zhenpo Wang;Lei Zhang;Huilong Yu;Dongpu Cao
作者机构：
National Engineering Research Center for Electric Vehicles,Beijing Institute of Technology,Beijing 100081,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Vehicleand Mobility,Tsinghua University,Beijing 100080,China
文献出处：
引用格式：
[1]Cong Wang;Zhenpo Wang;Lei Zhang;Huilong Yu;Dongpu Cao-.Post?Impact Motion Planning and Tracking Control for Autonomous Vehicles)[J].中国机械工程学报,2022(05):271-288
A类：
B类：
Post,Impact,Motion,Planning,Tracking,Control,Autonomous,Vehicles,There,increasing,awareness,need,reduce,traffic,accidents,fatality,due,impact,hazards,can,be,more,serious,driver,may,fail,maintain,effective,after,collisions,To,subsequent,crash,events,stabilize,this,paper,proposes,post,motion,planning,stability,method,autonomous,vehicles,An,enabling,proposed,situa,tions,by,combining,polynomial,curve,artificial,potential,field,while,considering,obstacle,avoidance,hierar,chical,controller,that,consists,upper,lower,then,developed,track,planned,In,varying,quadratic,regulator,presented,calculate,desired,generalized,forces,nonlinear,optimization,torque,allocation,algorithm,optimally,coordinate,actuators,realize,scheme,verified,under,comprehensive,driving,scenarios,through,hardware,loop,tests
AB值：
0.691136
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
