A Double-Layer Model Predictive Control Approach for Collision-Free Lane Tracking of On-Road Autonomous Vehicles

A Double-Layer Model Predictive Control Approach for Collision-Free Lane Tracking of On-Road Autonomous Vehicles

This paper proposes a double-layer model predictive control (MPC) algorithm for the integrated path planning and trajectory tracking of autonomous vehicles on roads. The upper module is responsible for generating collision-free lane trajectories, while the lower module is responsible for tracking th...

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Bibliographic Details
Main Authors: Weishan Yang, Yuepeng Chen, Yixin Su
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Actuators
Subjects:
hierarchical model predictive control
autonomous vehicle
lane tracking
Online Access:https://www.mdpi.com/2076-0825/12/4/169

Internet

https://www.mdpi.com/2076-0825/12/4/169

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