Emergency obstacle avoidance is one of the key points for autonomous driving system. A path planning controller based on non-linear model predictive control and a path tracking controller based on linear time-varying model predictive control are designed. In path planning controller, an obstacle-avoiding function is used to adjust the distance between the intelligent vehicle and obstacles by calculating the value of obstacle-avoiding function.

Filename	Size	Update
自主驾驶车辆紧急避障的路径规划与轨迹跟踪控制_邓海鹏.pdf	2419760	2020-06-18

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