Method and system for integrated path planning and path tracking control of autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11634146-B2
Application number	US-202117777896-A
Country	US
Kind code	B2
Filing date	May 28, 2021
Priority date	Sep 23, 2020
Publication date	Apr 25, 2023
Grant date	Apr 25, 2023

Abstract

The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.

First claim

What is claimed is:

1. A method for integrated path planning and path tracking control of an autonomous vehicle, comprising:
acquiring five input control variables and eleven system state variables of an autonomous vehicle at current time, wherein the five input control variables comprise a front wheel steering angle and four control moments at wheels; and the eleven system state variables comprise a lateral vehicle velocity, a yaw rate, four sideslip angles of the wheels, two relative velocities at the wheels, a horizontal coordinate of generalized vehicle coordinates, a vertical coordinate of the generalized vehicle coordinates, and a vehicle heading angle; and
constructing a vehicle path planning-tracking integrated state model according to the five input control variables and the eleven system state variables at the current time:
{dot over ( x )}= x+ u+
y= x,

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Assignees

• Beijing Institute Tech

Inventors

• Qin Yechen
• Huang Yiwei
• Hashemi Ehsan
• Khajepour Amir
• Wang Zhenfeng

Classifications

• B60W50/0097 Primary

  Predicting future conditions · CPC title

• B60W2050/0022

  Gains, weighting coefficients or weighting functions · CPC title

• B60W2520/12

  Lateral speed · CPC title

• B60W2520/26

  Wheel slip · CPC title

• B60W2510/20

  Steering systems · CPC title