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Vehicle Lateral Motion Control with Performance and Safety Guarantees

Lei Ni (Institutionen för signaler och system) ; Ankit Gupta (Institutionen för signaler och system) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Lars Johannesson
8th IFAC Symposium on Advances in Automotive Control, Jun 20-23, 2016, Kolmården, Sweden (2405-8963). Vol. 49 (2016), 11, p. 285-290.
[Konferensbidrag, refereegranskat]

This paper explores the use of Model Predictive Control (MPC) techniques to solve vehicle lateral motion control problem on highway scenarios. In particular, the problem of autonomously driving a vehicle along a desired path is formulated, where safety constraints and performance levels must be guaranteed for all possible road curvatures within a con [pact set. Safety constraints are translated into a maximum lateral deviation and orientation error w.r.t. a desired path, while performance requirements are formulated in terms of bounded lateral acceleration and velocity. Preliminary simulation results ahoy that the designed controller is capable of delivering acceptable performance at the cost of limited online computational costs. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Nyckelord: Vehicle motion control; safety; model predictive control; antonymous driving



Denna post skapades 2016-08-01. Senast ändrad 2016-11-25.
CPL Pubid: 239692