Automatic driving control based on time delay dynamic predictions

ZHAO Jianhui; GAO Hongbo; ZHANG Xinyu; ZHANG Yinglin

doi:10.16511/j.cnki.qhdxxb.2018.21.011

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Journal of Tsinghua University(Science and Technology) ›› 2018, Vol. 58 ›› Issue (4) : 432-437. DOI: 10.16511/j.cnki.qhdxxb.2018.21.011

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Automatic driving control based on time delay dynamic predictions

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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.

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intelligent driving / on-board camera / complex traffic environment

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ZHAO Jianhui, GAO Hongbo, ZHANG Xinyu, ZHANG Yinglin. Automatic driving control based on time delay dynamic predictions[J]. Journal of Tsinghua University(Science and Technology). 2018, 58(4): 432-437 https://doi.org/10.16511/j.cnki.qhdxxb.2018.21.011

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