Model predictive path planning based on artificial potential field and its application to autonomous lane change
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lin, P. | - |
dc.contributor.author | Choi, W.Y. | - |
dc.contributor.author | Lee, S.-H. | - |
dc.contributor.author | Chung, C.C. | - |
dc.date.accessioned | 2021-08-06T02:45:17Z | - |
dc.date.available | 2021-08-06T02:45:17Z | - |
dc.date.created | 2021-08-06 | - |
dc.date.issued | 2020-10-13 | - |
dc.identifier.issn | 1598-7833 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/84694 | - |
dc.description.abstract | In this paper, we propose a vehicle lane change system using model predictive path planning (MPPP) based on the artificial potential field (APF) for speeding vehicles. It is shown that APF has high performance in real-time obstacle avoidance. However, it remains unpractical for self-driving cars because the point model used for the APF ignores the lateral vehicle dynamics for the lane-keeping system. To resolve the problem, this paper introduces a novel curve-fitting method combined with the APF applied to plan a drivable path for autonomous vehicles in the lane change action. The proposed system was validated through MATLAB/Simulink with the empirical kinematic model. The simulation results indicate that the model predictive path planning algorithm is highly effective in high-speed lane change scenarios to avoid dynamic obstacle vehicles. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE Computer Society | - |
dc.title | Model predictive path planning based on artificial potential field and its application to autonomous lane change | - |
dc.type | Conference | - |
dc.contributor.affiliatedAuthor | Chung, C.C. | - |
dc.identifier.scopusid | 2-s2.0-85098065036 | - |
dc.identifier.bibliographicCitation | 2020 20th International Conference on Control, Automation and Systems (ICCAS), pp.731 - 736 | - |
dc.relation.isPartOf | 2020 20th International Conference on Control, Automation and Systems (ICCAS) | - |
dc.relation.isPartOf | 2020 20th International Conference on Control, Automation and Systems (ICCAS) | - |
dc.citation.title | 2020 20th International Conference on Control, Automation and Systems (ICCAS) | - |
dc.citation.startPage | 731 | - |
dc.citation.endPage | 736 | - |
dc.citation.conferencePlace | KO | - |
dc.citation.conferencePlace | Busan, Korea | - |
dc.citation.conferenceDate | 2020-10-13 | - |
dc.type.rims | CONF | - |
dc.description.journalClass | 1 | - |
dc.identifier.url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9268380 | - |
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