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Autonomous road vehicle path planning and tracking control /

Bibliographic Details
Main Authors: Güvenç, Levent (Author), Aksun-Güvenç, Bilin (Author), Zhu, Sheng (Mechanical engineer) (Author), Gelbal, Şükrü Yaren (Author)
Corporate Author: EBSCOhost
Format: eBook
Language:English
Published: Hoboken, New Jersey : John Wiley & Sons, Inc., [2022]
Subjects:
Automated vehicles > Design and construction.
Automated vehicles > Collision avoidance systems.
Mathematical optimization > Industrial applications.
Electronic books.
Online Access:Connect to the full text of this electronic book
Table of Contents:
  • Author biographies
  • Preface
  • Abbreviations
  • Chapter 1. Introduction 1
  • 1.1 Motivation and Introduction 1
  • 1.2 History of Automated Driving 4
  • 1.3 ADAS to Autonomous Driving 13
  • 1.4 Autonomous Driving Architectures 14
  • 1.5 Cybersecurity Considerations 15
  • 1.6 Organization and Scope of the Book 16
  • 1.7 Chapter Summary and Concluding Remarks 16
  • References 16
  • Chapter 2. Vehicle, Path and Path Tracking Models 21
  • 2.1 Tire Force Model 21
  • 2.1.1 Introduction 21
  • 2.1.2 Tire forces/moments and slip 22
  • 2.1.3 Longitudinal tire force modeling 25
  • 2.1.4 Lateral tire force modeling 28
  • 2.1.5 Self-aligning moment model 30
  • 2.1.6 Coupling of tire forces 32
  • 2.2 Vehicle longitudinal dynamics model 37
  • 2.3 Vehicle Lateral Dynamics Model 41
  • 2.3.1 Geometry of cornering 41
  • 2.3.2 Single track lateral vehicle model 43
  • 2.3.3 Augmented single track lateral vehicle model 47
  • 2.3.4 Linearized single track lateral vehicle model 48
  • 2.4 Path Model 52
  • 2.5 Pure Pursuit: Geometry Based Low Speed Path Tracking 58
  • 2.6 Stanley Method for Path Tracking 59
  • 2.7 Path Tracking in Reverse Driving and Parking 62
  • 2.8 Chapter Summary and Concluding Remarks 63
  • References 63
  • Chapter 3. Simulation, Experimentation and Estimation Overview 65
  • 3.1 Introduction to the Simulation Based Development and Evaluation Process 65
  • 3.2 Model-in-the-Loop Simulation 68
  • 3.2.1 Linear and Nonlinear Vehicle Simulation Models 68
  • 3.2.2 Higher Fidelity Vehicle Simulation Models 69
  • 3.3 Virtual Environments Used in Simulation 71
  • 3.3.1 Road Network Creation 71
  • 3.3.2 Driving Environment Construction 73
  • 3.3.3 Capabilities 77
  • 3.4 Hardware-in-the-Loop Simulation 82
  • 3.5 Experimental Vehicle Testbeds 84
  • 3.5.1 Unified Approach 84
  • 3.5.2 Unified AV Functions and Sensors Library 87
  • 3.6 Estimation 88
  • 3.6.1 Estimation of the Effective Tire Radius 88
  • 3.6.2 Slip Slope Method for Road Friction Coefficient Estimation 89
  • 3.6.3 Results and Discussion 92
  • 3.7 Chapter Summary and Concluding Remarks 97
  • References 97
  • Chapter 4. Path Description and Generation 100
  • 4.1 Introduction 100
  • 4.2 Discrete Waypoint Representation 100
  • 4.3 Parametric Path Description 103
  • 4.3.1 Clothoids 104
  • 4.3.2 Bezier Curves 107
  • 4.3.3 Polynomial Spline Description 108
  • 4.4 Tracking Error Calculation 113
  • 4.5 Conclusions 114
  • References 115
  • Chapter 5. Collision Free Path Planning 117
  • 5.1 Introduction 117
  • 5.2 Elastic Band Method 121
  • 5.2.1 Path Structure 121
  • 5.2.2 Calculation of Forces 121
  • 5.2.3 Reaching Equilibrium Point 124
  • 5.2.4 Selected Scenarios 125
  • 5.2.5 Results 127
  • 5.3 Path Planning with Minimum Curvature Variation 135
  • 5.3.1 Optimization based on G2-quintic Splines Path Description 135
  • 5.3.2 Reduction of Computation Cost using Lookup Tables 138
  • 5.3.3 Geometry-based Collision-free Target Points Generation 142
  • 5.3.4 Simulation Results 145
  • 5.4 Model-based Trajectory Planning 148
  • 5.4.1 Problem Formulation 148
  • 5.4.2 Parameterized Vehicle Control 149
  • 5.4.3 Constrained Optimization on Curvature Control 150
  • 5.4.4 Sampling of the Longitudinal Movements 155
  • 5.4.5 Trajectory Evaluation and Selection 157
  • 5.4.6 Integration of Road Friction Coefficient Estimation for Safety Enhancement 159
  • 5.4.7 Simulation Results in Complex Scenarios 162
  • 5.5 Chapter Summary and Concluding Remarks 169
  • References 170
  • Chapter 6. Path Tracking Model Regulation 174
  • 6.1 Introduction 174
  • 6.2 DOB Design and Frequency Response Analysis 175
  • 6.2.1 DOB Derivation and Loop Structure 175
  • 6.2.2 Application Examples 178
  • 6.2.3 Disturbance Rejection Comparison 188
  • 6.3 Q Filter Design 188
  • 6.4 Time Delay Performance 189
  • 6.5 Chapter Summary and Concluding Remarks 193
  • References 193
  • Chapter 7. Robust Path Tracking Control 195
  • 7.1 Model Predictive Control for Path Following 196
  • 7.1.1 Formulation of linear adaptive MPC problem 196
  • 7.1.2 Estimation of Lateral Velocity 198
  • 7.1.3 Experimental Results 201
  • 7.2 Design Methodology for Robust Gain-scheduling Law 204
  • 7.2.1 Problem Formulation 204
  • 7.2.2 Design via Optimization in Linear Matrix Inequalities form 205
  • 7.2.3 Parameter-space Gain-scheduling Methodology 207
  • 7.3 Robust Gain-scheduling Application to Path Tracking Control 213
  • 7.3.1 Car Steering Model and Parameter Uncertainty 213
  • 7.3.2 Controller Structure and Design Parameters 215
  • 7.3.3 Application of Parameter-space Gain-scheduling 217
  • 7.3.4 Comparative Study of LMI Design 222
  • 7.3.5 Experimental Results and Discussions 223
  • 7.4 Add-on Vehicle Stability Control for Autonomous Driving 227
  • 7.4.1 Direct Yaw Moment Control Strategies 228
  • 7.4.2 Direct Yaw Moment Distribution via Differential Braking 234
  • 7.4.3 Simulation Results and Discussion 235
  • 7.5 Chapter Summary and Concluding Remarks 238
  • References 238
  • Chapter 8. Summary and Conclusions 242
  • 8.1 Summary 242
  • 8.2 Conclusions 244.