Vehicle Lateral Motion Control with Performance and Safety Guarantees
Paper i proceeding, 2016

This paper explores the use of Model Predictive Control (MPC) techniques to solve vehicle lateral motion control problem on highway scenarios. In particular, the problem of autonomously driving a vehicle along a desired path is formulated, where safety constraints and performance levels must be guaranteed for all possible road curvatures within a con [pact set. Safety constraints are translated into a maximum lateral deviation and orientation error w.r.t. a desired path, while performance requirements are formulated in terms of bounded lateral acceleration and velocity. Preliminary simulation results ahoy that the designed controller is capable of delivering acceptable performance at the cost of limited online computational costs. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Vehicle motion control

model predictive control

antonymous driving

safety

Författare

Lei Ni

Chalmers, Signaler och system

Ankit Gupta

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Lars Johannesson

Volvo

IFAC-PapersOnLine

2405-8963 (ISSN)

Vol. 49 11 285-290

Ämneskategorier

Maskinteknik

Farkostteknik

Reglerteknik

DOI

10.1016/j.ifacol.2016.08.043

Mer information

Skapat

2017-10-07