Low-Complexity Explicit MPC Controller for Vehicle Lateral Motion Control
Paper i proceeding, 2018

We consider the problem of controlling the vehicle lateral motion in highway scenarios while guaranteeing safety. We propose a solution consisting of a Low-Complexity Explicit Model Predictive Controller (LC-EMPC), where the lateral deviation from the desired path is hard constrained according to prescribed bounds. The robust satisfaction of such safety constraints can be achieved by imposing the terminal state to enter a Robust Invariant Set (RIS), which is known to result into a potentially high number of additional constraints, thus increasing the computational complexity of the controller. Our controller, instead, relies on recent results on the calculation of low-complexity RIS to significantly reduce the number of constraints in the MPC controller. Simulation results show that the designed controller is able to meet the desired objectives with highly reduced complexity.

Invariant set

Model predictive control

Autonomous Driving

Författare

Ankit Gupta

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

2839-2844 8569902

21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018
Maui, Hawaii, USA,

Vehicle motion control with performance and safety guarantees

VINNOVA, 2015-09-01 -- 2019-08-31.

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1109/ITSC.2018.8569902

Mer information

Senast uppdaterat

2019-03-22