A DISCRETE-TIME LINEAR MODEL PREDICTIVE CONTROL FOR MOTION PLANNING OF AN AUTONOMOUS VEHICLE WITH ADAPTIVE CRUISE CONTROL AND OBSTACLE OVERTAKING

A discrete-time linear model predictive control for motion planning of an autonomous vehicle with adaptive cruise control and obstacle overtaking

Motion planners for autonomous driving improve traffic safety through collision-free motion generation along the path.However, conventional motion planners render passengers uncomfortable as a result of jerky motion.To overcome this, we propose a model predictive control (MPC) based motion planner that not only ensures safety but also improves driv

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