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April 4, 2026Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

Real-time planning and control methods for autonomous vehicles

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Authors

HCHaowen ChenHCHao ChenQLQifang Liu

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Overview

Demonstrates efficient trajectory planning and tracking in autonomous vehicles, highlighting improved control methods.

Key Points

  • This research aims to enhance real-time trajectory planning and tracking for autonomous vehicles dealing with dynamic obstacles.
  • Decoupled speed and path optimization into two 2D problems for trajectory planning.
  • Utilized dynamic programming for vehicle behavior decisions and optimization for path and speed determination.
  • Designed SL and ST iterative frameworks to manage obstacle handling.
  • Compared DP-QP and NMPC algorithms for performance validation.
  • Developed a two DOF error dynamics model predictive controller for path tracking.
  • Achieved improvements in speed calculation and control accuracy compared to nonlinear model predictive controller.
  • Generated smooth trajectories while successfully avoiding obstacles.
  • Validated methods using a joint simulation platform of PreScan, MATLAB/Simulink, and CarSim.

Cite This Study

Chen et al. (2026) studied this question.

synapsesocial.com/papers/69d0aefd659487ece0fa4e40https://doi.org/10.1177/09596518261435690
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