Method and system for integrated path planning and path tracking control of autonomous vehicle

US11634146B2 · kind B2 · utility

Assignee

• Beijing Institute of Technology · CN

Inventors

• Yechen Qin · Beijing, CN
• Yiwei Huang · Erlangen, DE
• Ehsan Hashemi · Waterloo, CA
• Amir Khajepour · Oakville, CA
• Zhenfeng Wang · Baofeng County, CN

Key dates

• Filing date: May 28, 2021
• Grant date: Apr 25, 2023
• Expiry date: May 28, 2041

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2754/30
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.