Buffer-Aided Model Predictive Controller to Mitigate Model Mismatches and Localization Errors
Artikel i vetenskaplig tidskrift, 2019

Any vehicle needs to be aware of its localization, destination, and neighboring vehicles' state information for collision free navigation. A centralized controller computes controls for cooperative adaptive cruise control (CACC) vehicles based on the assumed behavior of manually driven vehicles (MDVs) in a mixed vehicle scenario. The assumed behavior of the MDVs may be different from the actual behavior, which gives rise to a model mismatch. The use of erroneous localization information can generate erroneous controls. The presence of a model mismatch and the use of erroneous controls could potentially result into collisions. A controller robust to issues such as localization errors and model mismatches is thus required. This paper proposes a robust model predictive controller, which accounts for localization errors and mitigates model mismatches. Future control values computed by the centralized controller are shared with CACC vehicles and are stored in a buffer. Due to large localization errors or model mismatches when control computations are infeasible, control values from the buffer are used. Simulation results show that the proposed robust controller with buffer can avoid almost the same number of collisions in a scenario impacted by localization errors as that in a scenario with no localization errors despite model mismatch.

model mismatch

centralized control

Robustness

Centralized control

Uncertainty

Predictive models

Computational modeling

Time factors

Robust model predictive control

localization errors

Författare

Raj-Haresh Patel

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

Jérôme Härri

EURECOM

Christian Bonnet

EURECOM

IEEE Transactions on Intelligent Vehicles

2379-8858 (ISSN) 2379-8904 (eISSN)

Vol. 3 4 501-510

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1109/TIV.2018.2873908

Mer information

Senast uppdaterat

2019-09-09