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On Low Complexity Predictive Approaches to Control of Autonomous Vehicles

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; H. Eric Tseng ; Davor Hrovat
Lecture Notes in Control and Information Sciences - Automotive Model Predictive Control p. 195-210. (2010)
[Kapitel]

In this chapter we present low complexity predictive approaches to the control of autonomous vehicles. A general hierarchical architecture for fully autonomous vehicle guidance systems is presented together with a review of two control design paradigms. Our review emphasizes the trade off between performance and computational complexity at different control levels of the architecture. In particular, experimental results are presented, showing that if the controller at the lower level is properly designed, then it can handle system nonlinearities and model uncertainties even if those are not taken into account at the higher level.

Nyckelord: Vehicle Dynamics Control, Model Predictive Control, Autonomous Vehicles



Denna post skapades 2010-03-16. Senast ändrad 2010-08-12.
CPL Pubid: 117955

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Reglerteknik
Farkostteknik

Chalmers infrastruktur