A planar motion control system is proposed for autonomous vehicles not only to follow the lanes, but also to avoid collisions by braking, accelerating, and steering. The supervisor is designed first to determine the desired speed and the risk of the maneuvering due to road boundaries and obstacles. In order to allow lane changes on multi-lane roads, the model predictive controller is formulated based on the probabilistic non-convex optimization. The micro-genetic algorithm is applied to calculate the target speed and target steering angle in real time. A software-in-the-loop unit is constructed with the Rapid Control Prototyping device in the vehicle communication environment. The performance of the proposed system is verified for various collision avoidance scenarios and the simulation results demonstrate the safe and effective driving performance of autonomous vehicles with no collision on multi-lane road.

为自动驾驶汽车提出了一种平面运动控制系统，不仅可以跟随车道行驶，还可以通过制动、加速和转向来避免碰撞。监控器首先被设计为确定所需的速度以及由于道路边界和障碍物而导致的操纵风险。为了允许在多车道道路上换道，模型预测控制器是基于概率非凸优化制定的。应用微遗传算法实时计算目标速度和目标转向角。在车辆通信环境中使用快速控制原型设备构建了一个软件在环单元。