Automatic driving control based on time delay dynamic predictions

doi:10.16511/j.cnki.qhdxxb.2018.21.011

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Abstract Signal delays, limited frontal view distances and other factors during self-driving limit the ability of self-driving cars to accurately track their planning trajectory. A simplified bicycle model was used to optimize a classical pure tracking model in an automatic driving control method based on dynamic delay prediction. A vehicle kinematics model is used to predict the vehicle motion direction and position after the delay. The optimal front sight distance is obtained according to difference between driving the actual direction and the tracking direction. MATLAB simulations show that this algorithm can track the planning trajectory at a maximum speed of 7 m/s with the average error controlled to within 0.3 m. Thus, the tracking performance is better than the traditional pure pursuit method.

Keywords intelligent driving on-board camera complex traffic environment

ZTFLH:

TP399

Issue Date: 15 April 2018

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	ZHAO Jianhui
	GAO Hongbo
	ZHANG Xinyu
	ZHANG Yinglin

Cite this article:

ZHAO Jianhui,GAO Hongbo,ZHANG Xinyu, et al. Automatic driving control based on time delay dynamic predictions[J]. Journal of Tsinghua University(Science and Technology), 2018, 58(4): 432-437.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2018.21.011 OR http://jst.tsinghuajournals.com/EN/Y2018/V58/I4/432

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