Post-Impact Motion Planning and Tracking Control for Autonomous Vehicles

Post-Impact Motion Planning and Tracking Control for Autonomous Vehicles

Blog Article

Abstract There is an increasing awareness of the need to reduce traffic accidents and fatality due to vehicle collision.Post-impact hazards can be more serious as the driver may fail to maintain effective control after collisions.To avoid subsequent crash events and to stabilize the vehicle, this paper proposes a post-impact motion planning and stability control method for autonomous vehicles.An enabling motion planning method is Baby Hoodies proposed for post-impact situations by combining the polynomial curve and artificial potential field while considering obstacle avoidance.

A hierarchical controller that consists of an upper and a lower Shirts controller is then developed to track the planned motion.In the upper controller, a time-varying linear quadratic regulator is presented to calculate the desired generalized forces.In the lower controller, a nonlinear-optimization-based torque allocation algorithm is proposed to optimally coordinate the actuators to realize the desired generalized forces.The proposed scheme is verified under comprehensive driving scenarios through hardware-in-loop tests.