Trajectory Planning and Vehicle Control at low speed for home zone manoeuvres

Trajectory Planning and Vehicle Control at low speed is the automation of traditional manual vehicle maneuvers in home zones. We refer to living streets that are designed primarily to meet the needs of pedestrians, cyclists, children and residents and where the speeds and dominance of the cars are limited. In this study, we present the trajectory planning and vehicle control by using model predictive control (MPC) both for lateral and longitudinal dynamics In particular, the lateral control of the vehicle solves a convex optimization with steering and lateral travel range constraints. It is based on a linear model of vehicle kinematics which is synthesized from nonlinear dynamics by using time-state control form (TSCF) transformation. The longitudinal model predictive control is based on a simple double integrator model with longitudinal travel and speed references. The performance of the proposed method is verified with a V-cycle model-based approach, starting from Model-in-the-Loop simulation through vehicle experiments on Jeep Renegade prototypal vehicle. Copyright (C) 2020 The Authors.