This paper proposes a novel dynamic path planning and path following control method for collision avoidance, which works based on an improved piecewise affine tire model. The main contribution of this work is the design of a dynamic path planning method based on model predictive control, where it replans a maneuverable path to avoid moving obstacle in real time. A hierarchical control framework contains a high-level path replanning model predictive control and a low-level path following model predictive control. A collision avoidance cost function in the high hierarchies was designed to calculate the relative dynamic distance, which copes with the sudden obstacle. Moreover, the replanning path is the optimized output according to reference trajectory, obstacle, and handling stability. The control objective of the low hierarchies is to accurately track the replanning path, especially for the increased nonlinearity of large tire sideslip angle. For this reason, an improved piecewise affine tire model is designed and used for model predictive control to improve the path following performance and reduce calculated burden. The main improvement of the piecewise affine tire model is that the varied lateral stiffness coefficients adapt to the change of the tire sideslip angle in different tire regions. Based on the CarSim and Simulink platform, the dynamic path planning and path following simulations are designed to test the proposed method. The simulation results demonstrate the effectiveness of the proposed method.

中文翻译：

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基于分段仿射轮胎模型的自主车辆动态路径规划与路径跟随控制

本文基于改进的分段仿射轮胎模型，提出了一种新的用于避免碰撞的动态路径规划和路径跟随控制方法。这项工作的主要贡献是设计了一种基于模型预测控制的动态路径规划方法，它可以实时重新规划机动路径以避开移动障碍物。分层控制框架包含高级路径重新规划模型预测控制和低级路径跟随模型预测控制。设计了高层次中的碰撞避免成本函数来计算相对动态距离，以应对突然的障碍物。此外，重新规划路径是根据参考轨迹、障碍物和操纵稳定性的优化输出。低层次的控制目标是准确跟踪重新规划路径，特别是对于大轮胎侧滑角增加的非线性。为此，设计了改进的分段仿射轮胎模型并将其用于模型预测控制，以提高路径跟随性能并减少计算负担。分段仿射轮胎模型的主要改进是不同的横向刚度系数适应不同轮胎区域的轮胎侧滑角的变化。基于 CarSim 和 Simulink 平台，设计了动态路径规划和路径跟随仿真来测试所提出的方法。仿真结果证明了所提出方法的有效性。设计了改进的分段仿射轮胎模型，用于模型预测控制，以提高路径跟随性能并减少计算负担。分段仿射轮胎模型的主要改进是不同的横向刚度系数适应不同轮胎区域的轮胎侧滑角的变化。基于 CarSim 和 Simulink 平台，设计了动态路径规划和路径跟随仿真来测试所提出的方法。仿真结果证明了所提出方法的有效性。设计了改进的分段仿射轮胎模型，用于模型预测控制，以提高路径跟随性能并减少计算负担。分段仿射轮胎模型的主要改进是不同的横向刚度系数适应不同轮胎区域的轮胎侧滑角的变化。基于 CarSim 和 Simulink 平台，设计了动态路径规划和路径跟随仿真来测试所提出的方法。仿真结果证明了所提出方法的有效性。分段仿射轮胎模型的主要改进是不同的横向刚度系数适应不同轮胎区域的轮胎侧滑角的变化。基于 CarSim 和 Simulink 平台，设计了动态路径规划和路径跟随仿真来测试所提出的方法。仿真结果证明了所提出方法的有效性。分段仿射轮胎模型的主要改进是不同的横向刚度系数适应不同轮胎区域的轮胎侧滑角的变化。基于 CarSim 和 Simulink 平台，设计了动态路径规划和路径跟随仿真来测试所提出的方法。仿真结果证明了所提出方法的有效性。