Autonomous-Driving Vehicle Control With Composite Velocity Profile Planning
- Authors
- Lee, Seung-Hi; Chung, Chung Choo
- Issue Date
- Sep-2021
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Planning; Roads; Control design; Trajectory; Autonomous vehicles; Velocity control; Automotive driving vehicle; decentralized control; lane-change control; linear parameter varying (LPV) model; path planning; vehicle control; velocity profile
- Citation
- IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.29, no.5, pp.2079 - 2091
- Journal Title
- IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
- Volume
- 29
- Number
- 5
- Start Page
- 2079
- End Page
- 2091
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/16181
- DOI
- 10.1109/TCST.2020.3029713
- ISSN
- 1063-6536
- Abstract
- This article develops autonomous-driving vehicle control with a composite velocity profile (CVP) planning. An innovative technique of path planning is presented in the vehicle coordinates to allow complete lane change from any position at the origin lane to the center of the target lane. A technique of control is also presented to allow lane-change control design with vehicle speed planning. The CVP consists of longitudinal and lateral velocity profiles in time and planar geometric domains in the vehicle coordinates, respectively. This article also develops an autonomous-driving control framework with decentralized speed/lateral control using the CVP. The stability of the autonomous-driving control system is mathematically proved. Some experimental results on a test vehicle are also presented to demonstrate the utility of the proposed autonomous-driving vehicle control with CVP planning.
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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