Title: Planning and control of autonomous driving in lane-change manoeuvre based on MPC: a framework and design principles

Authors: Zhiwei Zhao; Kang Yuan; Jiatong Du; Yulei Wang; Yanjun Huang; Hong Chen

Addresses: The School of Automotive Studies, The College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' The School of Automotive Studies, The College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' The School of Automotive Studies, The College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' The School of Automotive Studies, The College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' The School of Automotive Studies, The College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' The School of Automotive Studies, The College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China

Abstract: To realise a safe trajectory planning and control performance based on model predictive control (MPC) and investigate the effects of MPC horizons on the system performance, this paper proposes a longitudinal-lateral decoupled trajectory planning method with a safety guarantee principle and develops an MPC tracking controller using the vehicle dynamics model. Besides, the effects of the planning horizon and the control horizon on lane-changing performance are investigated. Finally, a comprehensive evaluation indicator considering safety, comfort, and efficiency is proposed to provide recommended prediction horizons for different styles of driving behaviour. Several cases are studied and the results validate the effectiveness of the proposed method.

Keywords: autonomous vehicle; motion planning; MPC; model predictive control; lane change; horizon design principles; combined decision and plan scheme; collision avoidance.

DOI: 10.1504/IJVD.2023.134754

International Journal of Vehicle Design, 2023 Vol.92 No.2/3/4, pp.357 - 381

Received: 04 May 2022
Received in revised form: 22 Nov 2022
Accepted: 11 Jan 2023

Published online: 09 Nov 2023 *

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