环岛多辆自动驾驶车辆的低复杂度速度控制
Speed control with low complexity for multiple autonomous vehicles in roundabouts
作者:Zsófia Farkas;Balázs Németh;András Mihály;Péter Gáspár;
关键词:Roundabout scenarios,Autonomous vehicle control,Multiple vehicles
DOI:https://doi.org/10.1186/s12544-023-00615-z
发表时间:2023年
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摘要
本文介绍了一种用于在环岛场景中协调多辆自动驾驶车辆 (AV) 的高级速度控制方法。该控制方法的目的是保证自动驾驶汽车的无碰撞运动,同样,最大限度地减少其行驶时间。在该方法中,使用基于优先级的 AV 排序过程,这强制了 AV 的时间高效运动。通过基于优化的方法(包括控制输入约束)保证无碰撞运动。排序过程和优化形成了一个低复杂度的解决方案,需要很少的计算工作量。所提出的控制策略涉及高层控制结构。通过仿真实例和硬件在环演示说明了所提出控制策略的有效性。
Abstract
The paper introduces a high level speed control method for the coordination of multiple autonomous vehicles (AVs) in roundabout scenarios. The aim of the control method is to guarantee collision-free motion of the AVs, and similarly, to minimize their traveling time. In the method a priority-based ordering process of the AVs is used, which enforces the time-efficient motion of the AVs. The collision-free motion is guaranteed through an optimization-based method including control input constraints. The ordering process and the optimization form a low complexity solution, which requires low computation effort. The proposed control strategy is involved in the high level of a hierarchical control structure. The effectiveness of the proposed control strategy is illustrated by simulation examples and Hardware-in-the-Loop demonstration.
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