公开(公告)号：US20220410910A1

公开(公告)日：2022-12-29

申请号：US17777896

申请日：2021-05-28

Applicant: Beijing Institute Of Technology

Inventor： Yechen Qin ,  Yiwei Huang ,  Ehsan Hashemi ,  Amir Khajepour ,  Zhenfeng Wang

IPC: B60W50/00 ,  G05B13/04 ,  B60W60/00

Abstract: The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.

公开(公告)号：US11634146B2

公开(公告)日：2023-04-25

申请号：US17777896

申请日：2021-05-28

Applicant: Beijing Institute Of Technology

Inventor： Yechen Qin ,  Yiwei Huang ,  Ehsan Hashemi ,  Amir Khajepour ,  Zhenfeng Wang

IPC: B60W50/00 ,  G05B13/04 ,  B60W60/00

Abstract: The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.