Post-Impact Motion Planning and Tracking Control for Autonomous Vehicles

作     者：Cong Wang Zhenpo Wang Lei Zhang Huilong Yu Dongpu Cao Cong Wang;Zhenpo Wang;Lei Zhang;Huilong Yu;Dongpu Cao

作者机构：National Engineering Research Center for Electric VehiclesBeijing Institute of TechnologyBeijing 100081China School of Mechanical EngineeringBeijing Institute of TechnologyBeijing 100081China School of Vehicle and MobilityTsinghua UniversityBeijing 100080China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2022年第35卷第5期

页      面：315-332页

核心收录：

学科分类：0817[工学-化学工程与技术] 08[工学] 082304[工学-载运工具运用工程] 0807[工学-动力工程及工程热物理] 080204[工学-车辆工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 0823[工学-交通运输工程] 

基　　金：Beijing Municipal Science and Technology Commission via the Beijing Nova Program(Grant No.Z201100006820007) 

主　　题：Active safety Post-impact control Motion planning Vehicle dynamics control 

摘      要：There is an increasing awareness of the need to reduce traffic accidents and fatality due to vehicle ***-impact hazards can be more serious as the driver may fail to maintain effective control after *** avoid subsequent crash events and to stabilize the vehicle,this paper proposes a post-impact motion planning and stability control method for autonomous *** enabling motion planning method is proposed for post-impact situations by combining the polynomial curve and artificial potential field while considering obstacle avoidance.A hierarchical controller that consists of an upper and a lower controller is then developed to track the planned *** the upper controller,a time-varying linear quadratic regulator is presented to calculate the desired generalized *** the lower controller,a nonlinear-optimization-based torque allocation algorithm is proposed to optimally coordinate the actuators to realize the desired generalized *** proposed scheme is verified under comprehensive driving scenarios through hardware-in-loop tests.