A Framework for Vehicle Lateral Motion Control With Guaranteed Tracking and Performance
Paper i proceeding, 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. Bounded lateral deviation from the reference trajectory is the strict safety requirement considered in this paper.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, validates the proposed approach.

Författare

Ankit Gupta

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

M. Nilsson

Zenuity AB

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Emil Klintberg

Zenuity AB

Lars Johannesson Mardh

Zenuity AB

2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

3607-3612 8916936

Drivkrafter

Hållbar utveckling

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1109/ITSC.2019.8916936

Mer information

Senast uppdaterat

2020-01-08