A Framework for Vehicle Lateral Motion Control With Guaranteed Tracking and Performance
Preprint, 2019

In this paper, we propose a framework to design a controller for the vehicle lateral dynamics, which guarantees to meet desired safety and performance requirement. The strict safety requirement considered in this paper is a bound on the lateral deviation from the reference trajectory.

The proposed control design relies on a mild assumption. That is, the trajectory planner generates a trajectory that is piece-wise clothoidal (PWC), with bounded curvature and curvature rate.

Closed-loop simulations using a linear quadratic regulator (LQR) and a model predictive control (MPC) controller, developed based on the proposed framework, show validate the proposed approach.

Vehicle motion control

Author

Ankit Gupta

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Magnus Nilsson

Zenuity

Qamcom Research & Technology

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Emil Klintberg

Zenuity

Chalmers, Electrical Engineering, Systems and control, Automatic Control

Lars Johannesson Mårdh

Zenuity

Driving Forces

Sustainable development

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

Robotics

Control Engineering

More information

Latest update

5/6/2019 9