Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC
Abstract
:1. Introduction
- A new shared control framework based on MPC is proposed, which includes an NMPC-based trajectory planning module, a situation assessment module considering both lateral and longitudinal risks, and a shared control module based on multi-objective MPC.
- A shared control scheme based on multi-objective MPC is proposed, in which matching the driver’s commands and tracking the reference trajectories are both taken as the optimization objectives, and the authority of the driver and the automation are allocated by adjusting the weights of the two objectives, which are determined by the situation assessment module.
2. Vehicle Model
3. Dynamic Trajectory Planning Based on NMPC
4. MPC-Based Shared Controller
4.1. Situation Assessment
4.2. Design of MPC Shared Controller
5. Simulation Results and Analysis
- Distracted driving with no steering command;
- Obstacle avoidance in a panic with oscillating steering commands;
- Driver’s stochastic steering commands.
5.1. Results and Analysis of Scenario 1
5.2. Results and Analysis of Scenario 2
5.3. Results and Analysis of Scenario 3
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Symbol | Description |
---|---|
Vehicle mass | |
Vehicle inertia | |
Distance from front/rear axle to center of mass | |
Cornering stiffness of front/rear tires | |
Lateral stiffness of front/rear tires | |
Slip angle of front/rear tires | |
Longitudinal slip ratio of front/rear tires | |
Lateral force of front/rear tires | |
Longitudinal force of front/rear tires | |
Front wheel steering angle | |
Vehicle longitudinal velocity | |
Vehicle lateral velocity | |
Lateral acceleration | |
Vehicle heading angle | |
Yaw rate | |
Vehicle longitudinal position in inertial coordinate | |
Lateral position of vehicle in inertial coordinate |
Symbol | Value |
---|---|
1723 kg | |
4175 kg·m2 | |
1.232 m | |
1.468 m |
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Liang, Y.; Yin, Z.; Nie, L. Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC. Sensors 2021, 21, 4671. https://doi.org/10.3390/s21144671
Liang Y, Yin Z, Nie L. Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC. Sensors. 2021; 21(14):4671. https://doi.org/10.3390/s21144671
Chicago/Turabian StyleLiang, Yang, Zhishuai Yin, and Linzhen Nie. 2021. "Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC" Sensors 21, no. 14: 4671. https://doi.org/10.3390/s21144671
APA StyleLiang, Y., Yin, Z., & Nie, L. (2021). Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC. Sensors, 21(14), 4671. https://doi.org/10.3390/s21144671