On Low Complexity Predictive Approaches to Control of Autonomous Vehicles
Kapitel i bok, 2010

In this chapter we present low complexity predictive approaches to the control of autonomous vehicles. A general hierarchical architecture for fully autonomous vehicle guidance systems is presented together with a review of two control design paradigms. Our review emphasizes the trade off between performance and computational complexity at different control levels of the architecture. In particular, experimental results are presented, showing that if the controller at the lower level is properly designed, then it can handle system nonlinearities and model uncertainties even if those are not taken into account at the higher level.

Autonomous Vehicles

Vehicle Dynamics Control

Model Predictive Control

Författare

Paolo Falcone

Signaler och system, System- och reglerteknik, Mekatronik

Francesco Borrelli

University of California

H. Eric Tseng

Ford Motor Company

Davor Hrovat

Ford Motor Company

Lecture Notes in Control and Information Sciences

0170-8643 (ISSN)

195-210

Ämneskategorier

Farkostteknik

Reglerteknik

DOI

10.1007/978-1-84996-071-7_13

ISBN

978-1-84996-070-0