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

Författare

Ankit Gupta

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Magnus Nilsson

Zenuity

Qamcom Research & Technology

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Emil Klintberg

Zenuity

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Lars Johannesson Mårdh

Zenuity

Drivkrafter

Hållbar utveckling

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

Mer information

Senast uppdaterat

2019-05-06