https://scholars.lib.ntu.edu.tw/handle/123456789/599030
標題: | Hardware-in-the-loop simulation of self-driving electric vehicles by dynamic path planning and model predictive control | 作者: | Chung Y Yang Y.-P. YEE-PIEN YANG |
關鍵字: | electric van;Model predictive control;Path planning;Self-driving vehicle | 公開日期: | 2021 | 卷: | 10 | 期: | 19 | 來源出版物: | Electronics (Switzerland) | 摘要: | This paper applies a dynamic path planning and model predictive control (MPC) to simulate self-driving and parking for an electric van on a hardware-in-the-loop (HiL) platform. The hardware platform is a simulator which consists of an electric power steering system, accelerator and brake pedals, and an Nvidia drive PX2 with a robot operating system (ROS). The vehicle dynamics model, sensors, controller, and test field map are virtually built with the PreScan simulation platform. Both manual and autonomous driving modes can be simulated, and a graphic user interface allows a test driver to select a target parking space on a display screen. Three scenarios are demonstrated: forward parking, reverse parking, and obstacle avoidance. When the vehicle perceives an obstacle, the map is updated and the route is adaptively planned. The effectiveness of the proposed MPC is verified in experiments and proved to be superior to a traditional proportional–integral–derivative controller with regards to safety, energy-saving, comfort, and agility. ? 2021 by the authors. Licensee MDPI, Basel, Switzerland. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85116578586&doi=10.3390%2felectronics10192447&partnerID=40&md5=e9d951ff12a02548018d22818f9630ab https://scholars.lib.ntu.edu.tw/handle/123456789/599030 |
ISSN: | 20799292 | DOI: | 10.3390/electronics10192447 |
顯示於: | 機械工程學系 |
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