A dynamic estimation-based obstacle avoidance system for AV adapting to various moving directions obstacle

In the study of obstacle avoidance for autonomous vehicle (AV), the moving direction of obstacle is generally the same as that of AV. But in actual situation, the moving direction of obstacle is various, which may lead to collision phenomenon of AV. To solve this problem, a dynamic estimation-based...

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Bibliographic Details
Published inJournal of the Brazilian Society of Mechanical Sciences and Engineering Vol. 44; no. 5
Main Authors Liu, Zhixian, Yuan, Xiaofang
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.05.2022
Springer Nature B.V
Subjects
Acceleration
Constraint modelling
Engineering
Mechanical Engineering
Obstacle avoidance
Predictive control
Simulation
Steering
Technical Paper
Yaw
Uncertain direction
Model predictive control
Autonomous vehicle
Obstacle avoidance
Multiple-constraint
Dynamic estimation
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Summary:In the study of obstacle avoidance for autonomous vehicle (AV), the moving direction of obstacle is generally the same as that of AV. But in actual situation, the moving direction of obstacle is various, which may lead to collision phenomenon of AV. To solve this problem, a dynamic estimation-based obstacle avoidance system (DEOAS) which includes two parts, a dynamic estimation module (DEM) and a multiple-constraint model predictive controller (MCMPC), is presented in this work. To adapt to the obstacle with various moving direction, the DEM combines the driver’s experience and vehicle model to obtain the ranges of acceleration and steering angle. The MCMPC is designed to deal with the constraints of distance, acceleration and yaw angle simultaneously to obtain the optimal velocity and steering angle. The simulation is carried on the Carsim-Matlab co-simulation platform, and the simulation results indicate that the proposed DMOAS can achieve adaptive obstacle avoidance with the obstacle moving in various direction.
ISSN:1678-5878
1806-3691
DOI:10.1007/s40430-022-03510-1