Abstract
This paper considers the control problem of automated vehicles with delays. We develop a comprehensive control method within the framework of model predictive control (MPC) with compensation for the input delay and the state delay for automated vehicles on the multi-lane road, where the road boundaries and lane markings are modeled as potential functions. The original vehicle dynamics model is modified to formulate the augmented prediction model to compensate for delays. We also present a parallel strategy for the executions of the perception system, the controller, and the actuator, which can directly cut delays in the loop. The simulations show that this method can greatly reduce the impact of delays on the performance of the controller and, therefore, enhance its capabilities.
Highlights
Researchers and engineers are tempting to reduce traffic accidents, congestion, transport time and energy consumption for the future transportation system by developing automated vehicles (AVs) [1], even though there will be a lot of challenging issues standing in their way
The control system is hierarchically decomposed into four different layers, namely, the route planning, the behavioral layer, the motion planning, and the local feedback control [3] when people try to design the architecture of the control system for the AV
As for the lanes and road boundaries, we would like to introduce the potential functions [16], [29], [30] to construct the potential field of the road, which can be used to regulate the automated vehicle to drive in the center of its current lane if it is free from other constraints
Summary
Researchers and engineers are tempting to reduce traffic accidents, congestion, transport time and energy consumption for the future transportation system by developing automated vehicles (AVs) [1], even though there will be a lot of challenging issues standing in their way. It clarifies the input delay and the state delay in the control system of an automated vehicle It proposes a predictive control method which can deal with different kinds of traffic environment and integrates the tasks of decision, planning, and control, and significantly reduce the effect of time delays. It employs a parallel control scheme which can execute the control commands at a higher frequency and cut the delay in the loop directly.
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