@inproceedings{3304c5e3484942b1bf594b51f4a6718b,
title = "Trajectory tracking control for autonomous vehicles in different cut-in scenarios",
abstract = "Trajectory tracking in the cut-in scenarios is challenging because the autonomous vehicles have to follow the reference trajectory and cooperate with the cut-in vehicles simultaneously. This paper proposes a trajectory tracking control method considering the cut-in vehicles with different behaviors. A model predictive control (MPC) approach incorporating driver behavior prediction is developed to track the reference trajectory and keep a safe distance with the cut-in vehicle. Moreover, the transient process of the cut-in scenario is considered for different cut-in behaviors. By synthesizing the driver behavior prediction with the trajectory tracking control, the relative distance between the autonomous vehicle and the cut-in vehicle gradually reaches the safe distance in the transient process. The designed controller is validated by CarSim{\textregistered} simulation. The simulation results show that the controller can not only track the reference trajectory, but also achieve a smooth transient process in different cut-in scenarios.",
keywords = "Autonomous vehicle, Cut-in scenarios, Driver behavior, Model predictive control, Trajectory tracking control",
author = "Yimin Chen and Junmin Wang",
note = "Publisher Copyright: {\textcopyright} 2019 American Automatic Control Council.; 2019 American Control Conference, ACC 2019 ; Conference date: 10-07-2019 Through 12-07-2019",
year = "2019",
month = jul,
doi = "10.23919/acc.2019.8814985",
language = "英语",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4878--4883",
booktitle = "2019 American Control Conference, ACC 2019",
}