Autonomous Road Vehicle Path Planning and Tracking Control

Name: Autonomous Road Vehicle Path Planning and Tracking Control
Brand: Wiley-ISTE
Price: 109.99 EUR
Availability: OnlineOnly

Levent Guvenc Bilin Aksun-Guvenc Sheng Zhu Sukru Yaren Gelbal(Autor*in)

Wiley-ISTE (Verlag)

1. Auflage

Erschienen am 2. Dezember 2021

256 Seiten

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978-1-119-74795-6 (ISBN)

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Inhalt

Cover
Title Page
Copyright
Contents
About the Authors
Preface
List of Abbreviations
Chapter 1 Introduction
1.1 Motivation and Introduction
1.2 History of Automated Driving
1.3 ADAS to Autonomous Driving
1.4 Autonomous Driving Architectures
1.5 Cybersecurity Considerations
1.6 Organization and Scope of the Book
1.7 Chapter Summary and Concluding Remarks
References
Chapter 2 Vehicle, Path, and Path Tracking Models
2.1 Tire Force Model
2.1.1 Introduction
2.1.2 Tire Forces/Moments and Slip
2.1.3 Longitudinal Tire Force Modeling
2.1.4 Lateral Tire Force Modeling
2.1.5 Self-aligning Moment Model
2.1.6 Coupling of Tire Forces
2.2 Vehicle Longitudinal Dynamics Model
2.3 Vehicle Lateral Dynamics Model
2.3.1 Geometry of Cornering
2.3.2 Single-Track Lateral Vehicle Model
2.3.3 Augmented Single-Track Lateral Vehicle Model
2.3.4 Linearized Single Track Lateral Vehicle Model
2.4 Path Model
2.5 Pure Pursuit: Geometry-Based Low-Speed Path Tracking
2.6 Stanley Method for Path Tracking
2.7 Path Tracking in Reverse Driving and Parking
2.8 Chapter Summary and Concluding Remarks
References
Chapter 3 Simulation, Experimentation, and Estimation Overview
3.1 Introduction to the Simulation-Based Development and Evaluation Process
3.2 Model-in-the-Loop Simulation
3.2.1 Linear and Nonlinear Vehicle Simulation Models
3.2.2 Higher Fidelity Vehicle Simulation Models
3.3 Virtual Environments Used in Simulation
3.3.1 Road Network Creation
3.3.2 Driving Environment Construction
3.3.3 Capabilities
3.4 Hardware-in-the-Loop Simulation
3.5 Experimental Vehicle Testbeds
3.5.1 Unified Approach
3.5.2 Unified AV Functions and Sensors Library
3.6 Estimation
3.6.1 Estimation of the Effective Tire Radius
3.6.2 Slip Slope Method for Road Friction Coefficient Estimation
3.6.3 Results and Discussion
3.7 Chapter Summary and Concluding Remarks
References
Chapter 4 Path Description and Generation
4.1 Introduction
4.2 Discrete Waypoint Representation
4.3 Parametric Path Description
4.3.1 Clothoids
4.3.2 Bezier Curves
4.3.3 Polynomial Spline Description
4.4 Tracking Error Calculation
4.4.1 Tracking Error Computation for a Discrete Waypoint Path Representation
4.4.2 Tracking Error Computation for a Spline Path Representation
4.5 Chapter Summary and Concluding Remarks
References
Chapter 5 Collision Free Path Planning
5.1 Introduction
5.2 Elastic Band Method
5.2.1 Path Structure
5.2.2 Calculation of Forces
5.2.3 Reaching Equilibrium Point
5.2.4 Selected Scenarios
5.2.5 Results
5.3 Path Planning with Minimum Curvature Variation
5.3.1 Optimization Based on G2-Quintic Splines Path Description
5.3.2 Reduction of Computation Cost Using Lookup Tables
5.3.3 Geometry-Based Collision-Free Target Points Generation
5.3.4 Simulation Results
5.4 Model-Based Trajectory Planning
5.4.1 Problem Formulation
5.4.2 Parameterized Vehicle Control
5.4.3 Constrained Optimization on Curvature Control
5.4.4 Sampling of the Longitudinal Movements
5.4.5 Trajectory Evaluation and Selection
5.4.6 Integration of Road Friction Coefficient Estimation for Safety Enhancement
5.4.7 Simulation Results in Complex Scenarios
5.5 Chapter Summary and Concluding Remarks
References
Chapter 6 Path-Tracking Model Regulation
6.1 Introduction
6.2 DOB Design and Frequency Response Analysis
6.2.1 DOB Derivation and Loop Structure
6.2.2 Application Examples
6.2.3 Disturbance Rejection Comparison
6.3 Q Filter Design
6.4 Time Delay Performance
6.5 Chapter Summary and Concluding Remarks
References
Chapter 7 Robust Path Tracking Control
7.1 Introduction
7.2 Model Predictive Control for Path Following
7.2.1 Formulation of Linear Adaptive MPC Problem
7.2.2 Estimation of Lateral Velocity
7.2.3 Experimental Results
7.3 Design Methodology for Robust Gain-Scheduling Law
7.3.1 Problem Formulation
7.3.2 Design via Optimization in Linear Matrix Inequalities Form
7.3.3 Parameter-Space Gain-Scheduling Methodology
7.4 Robust Gain-Scheduling Application to Path-Tracking Control
7.4.1 Car Steering Model and Parameter Uncertainty
7.4.2 Controller Structure and Design Parameters
7.4.3 Application of Parameter-Space Gain-Scheduling
7.4.4 Comparative Study of LMI Design
7.4.5 Experimental Results and Discussions
7.5 Add-on Vehicle Stability Control for Autonomous Driving
7.5.1 Direct Yaw Moment Control Strategies
7.5.2 Direct Yaw Moment Distribution via Differential Braking
7.5.3 Simulation Results and Discussion
7.6 Chapter Summary and Concluding Remarks
References
Chapter 8 Summary and Conclusions
8.1 Summary
8.2 Conclusions
Index
Books in the IEEE Press Series on Control Systems Theoryand Applications
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