Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

Longitudinal and lateral control methods from single vehicle to autonomous platoon

To successfully implement the platoon control of connected and automated vehicles,it is necessary to address motion control issues to achieve longitudinal and lateral collaborative control.However,due to traffic capacity limitations and the complex traffic environment in which autonomous and human-driven vehicles coexist,autonomous platoon faces significant risks and challenges.This paper investigates longitudinal and lateral control issues from the perspective of a single vehicle up to a platoon,simulating the performance and suitability of various controllers.First,a longitudinal controller based on fuzzy logic and PID control is employed for speed tracking control of a single vehicle,followed by the adoption of an MPC controller based on the vehicle kinematics model to realize the lateral motion of a single vehicle.Second,the communication methods of the autonomous platoon are discussed,and the longitudinal controller that considers the platoon's various communication topologies is developed.Thirdly,a framework for robust integrated motion control is established,which combines the robust H-infinity longitudinal controller and the APF-based MPC lateral controller.Simulation results validate the effectiveness of the aforementioned controllers and reveal their limitations.