Autonomous road vehicle path planning and tracking control / / Levent Guvenc [and three others]

• Record Nr.: UNINA9910555143603321
• Pubbl/distr/stampa: Hoboken, New Jersey : , : John Wiley & Sons, Inc., , [2022]; ©2022
• ISBN: 1-119-74796-1; 1-119-74797-X; 1-119-74795-3
• Descrizione fisica: 1 online resource (259 pages)
• Collana: IEEE Press Series on Control Systems Theory and Applications Ser.
• Disciplina: 629.04/6
• Soggetti: Automated vehicles - Design and construction; Automated vehicles - Collision avoidance systems; Mathematical optimization - Industrial applications
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Nota di contenuto: 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 -- EULA.