Trajectory generation for road vehicle obstacle avoidance using convex optimization

Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering

Volumn 224, Issue 4, 2010, Pages 455-473

  Bevan, G P ^a,b   Gollee, H ^b   O'Reilly, J ^b  

^a GLASGOW CALEDONIAN UNIVERSITY   (United Kingdom)

^b UNIVERSITY OF GLASGOW   (United Kingdom)

Author keywords

Convex optimization; Lane change; Obstacle avoidance; Trajectory generation

Indexed keywords

COLLISION AVOIDANCE; CONVEX OPTIMIZATION; TRAJECTORIES;

ANALYTICAL METHOD; AVOID OBSTACLES; CONSTANT SPEED; FREE PATH; LANE CHANGE; MULTIPLE OPTIMIZATIONS; OPTIMAL TRAJECTORIES; TRAJECTORY GENERATION;

ROAD VEHICLES;

EID: 77950304077     PISSN: 09544070     EISSN: None     Source Type: Journal    
DOI: 10.1243/09544070JAUTO1204     Document Type: Article

References (28)

1. Shiller, Z. and Sundar, S. Emergency lane-change manoeuvres of autonomous vehicles. Trans. ASME, J. Dynamic Systems, Measmt Control, 1998, 120, 37-44.
2. Bevan, G. P., Gollee, H., and O'Reilly, J. Automatic lateral emergency collision avoidance for a passenger car, Int. J. Control, 2007, 80(11), 1751-1762.
3. Hattori, Y., Ono, E., and Hosoe, S. Optimum vehicle trajectory control for obstacle avoidance problem. IEEE/ASME Trans. Mechatronics, 2006, 11, 507-512.
4. Godbole, D. N., Hagenmeyer, V., Sengupta, R., and Swaroop, D. Design of emergency maneuvers for automated highway system: obstacle avoidance problem. In Proceedings of the IEEE Conference on Decision and control, San Diego, California, December 1997, vol.5, pp. 4774-4779 (Institute of Electrical and Electronics Engineers, London).
5. Sledge Jr, N. H. and Marshek, K. M. Development and validation of an optimized emergency lanechange trajectory. In Vehicle dynamics and simulation, Detroit, Michigan, February 1998, no.1361, pp. 103-121 (Society of Automotive Engineers, Warrendale, Pennsylvania).
6. Blank, M. and Margolis, D. L. Minimizing the path radius of curvature for collision avoidance. Veh. System Dynamics, 2000, 33(3), 183-201.
7. Hamming, R. W. Numerical methods for scientists and engineers, 2nd edition, 1973 (McGraw-Hill).
8. Pacejka, H. B. and Bakker, E. The magic formula tyre model. Veh. System Dynamics, 1993, 21, 1-18.
9. Canudas de Wit, C. and Tsiotras, P. Dynamic tire friction models for vehicle traction control. In Proceedings of the IEEE Conference on Decision and control, Phoenix, Arizona, December 1999, vol.4, pp. 3746-3751 (Institute of Electrical and Electronics Engineers, London).
10. Gäfvert, M. and Svendenius, J. Construction of novel semi-empirical tire models for combined braking and cornering. Technical Report ISRN LUTFD2/TFRT-7606-SE, Department of Automatic Control, Lund Institute of Technology, Sweden, April 2003.
11. Pauwelussen, J. P., Gootjes, L., Schröder, C., Köhne, K. U., Jansen, S., and Schmeitz, A. Full vehicle ABS braking using the SWIFT rigid ring tyre model. Control Engng Practice, 2003, 11, 199-207.
12. Gissinger, G. L., Chamaillard, Y., and Stemmelen, T. Modelling a motor vehicle and its braking system. Math. Computers in Simulation, 1995, 39, 541-548.
13. Ammon, D., Gipser, M., Rauh, J., and Wimmer, J. High performance system dynamics simulation of the entire system tire-suspension-steering-vehicle. Veh. System Dynamics, 1997, 27, 435-455.
14. Jansen, S. T. H., Zegelaar, P. W. A., and Pacejka, H. B. The influence of in-plane tyre dynamics on ABS braking of a quarter vehicle model. Veh. System Dynamics, 1999, 32, 249-261.
15. Johansen, T. A., Hunt, K. J., Gawthrop, P. J., and Fritz, H. Off-equilibrium linearisation and design of gain scheduled control with application to vehicle speed control. Control Engng Practice, 1998, 6, 167-180.
16. Leith, D. J. and Leithead, W. E. Gain-scheduled and nonlinear systems: dynamic analysis by velocity- based linearization families. Int. J. Control, 1998, 70, 289-317.
17. Burgio, G. and Zegelaar, P. Integrated vehicle control using steering and brakes. Int. J. Control, 2006, 79, 534-541.
18. Wong, J. Y. Theory of ground vehicles, 3rd edition, 2001 (Wiley, Chichester).
19. Sharp, R. S. and Bettella, M. On the construction of a general numerical tyre shear force model from limited data. Proc. IMechE, Part D: J. Automobile Engineering, 2003, 217(3), 165-172. DOI: 10.1243/ 09544070360550363.
20. Milliken, W. F. and Milliken, D. L. Race car vehicle dynamics, 1995 (Society of Automotive Engineers, Warrendale, Pennsylvania).
21. Gillespie, T. D. Fundamentals of vehicle dynamics, 1992 (Society of Automotive Engineers, Warrendale, Pennsylvania).
22. ISO 3888: Passenger cars - test track for a severe lane-change manoeuvre, 1999, 2002 (International Organization for Standardization).
23. Dubins, L. E. On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math., 1957, 79, 497-516.
24. Betts, J. T. Practical methods for optimal control using nonlinear programming, 2001 (SIAM, Philadelphia).
25. Grant, M. and Boyd, S. CVX, A Matlab package for disciplined convex programming, 2005. Available from http://www.stanford.edu/,boyd/cvx/ for further details.
26. Grant, M., Boyd, S., and Ye, Y. Disciplined convex programming. In Global optimization: from theory to implementation (nonconvex optimization and its applications), 2006, pp. 155-210 (Springer Science and Business Media, New York).
27. Bevan, G. P. Development of vehicle dynamics controller for obstacle avoidance. PhD Thesis, University of Glasgow, 2008.
28. Bevan, G. P., O'Neill, S. J., Gollee, H., and O'Reilly, J. Performance comparison of collision avoidance controller designs. In Proceedings of 2007 IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, June 2007, pp. 468-473 (Institute of Electrical and Electronics Engineers, London).