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    Longitudinal Model Predictive Control with comfortable speed planner

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    08374161_.pdf (255.1Kb)
    Identifiers
    URI: http://hdl.handle.net/11556/578
    ISBN: 978-1-5386-5222-0
    DOI: 10.1109/icarsc.2018.8374161
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    Author/s
    Matute, Jose A.; Marcano, Mauricio; Zubizarreta, Asier; Perez, Joshue
    Date
    2018-06
    Keywords
    Model Predictive Control
    Simulation Environment
    Automated Driving
    Abstract
    Guaranteeing simplicity and safety is a real challenge of Advanced Driver Assistance Systems (ADAS), being these aspects necessary for the development of decision and control stages in highly automated vehicles. Considering that a human-centered design is generally pursued, exploring comfort boundaries in passenger vehicles has a significant importance. This work aims to implement a simple Model Predictive Control (MPC) for longitudinal maneuvers, considering a bare speed planner based on the curvature of a predefined geometrical path. The speed profiles are constrained with a maximum value at any time, in such way that total accelerations are lower than specified constraint limits. A double proportional with curvature bias control was employed as a simple algorithm for lateral maneuvers. The tests were performed within a realistic simulation environment with a virtual vehicle model based on a multi-body formulation. The results of this investigation permits to determine the capabilities ...
    Type
    conferenceObject

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