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dc.contributor.authorMatute, Jose A.
dc.contributor.authorLattarulo, Ray
dc.contributor.authorZubizarreta, Asier
dc.contributor.authorPerez, Joshue
dc.date.accessioned2019-09-16T11:58:00Z
dc.date.available2019-09-16T11:58:00Z
dc.date.issued2019
dc.identifier.citationMatute, Jose A., Ray Lattarulo, Asier Zubizarreta, and Joshue Perez. “A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models.” 2019 IEEE Intelligent Vehicles Symposium (IV) (June 2019). doi:10.1109/ivs.2019.8814256.en
dc.identifier.isbn978-1-7281-0561-1en
dc.identifier.issn1931-0587en
dc.identifier.urihttp://hdl.handle.net/11556/762
dc.description.abstractIn this work, a comparative study is carried out with two different predictive controllers that consider the longitudinal jerk and steering rate change as additional parameters, as additional parameters, so that comfort constraints can be included. Furthermore, the approaches are designed so that the effect of longitudinal and lateral motion control coupling can be analyzed. This way, the first controller is a longitudinal and lateral coupled MPC approach based on a kinematic model of the vehicle, while the second is a decoupled strategy based on a triple integrator model based on MPC for the longitudinal control and a double proportional curvature control for the lateral motion control. The control architecture and motion planning are exhaustively explained. The comparative study is carried out using a test vehicle, whose dynamics and low-level controllers have been simulated using the realistic simulation environment Dynacar. The performed tests demonstrate the effectiveness of both approaches in speeds higher than 30 km/h, and demonstrate that the coupled strategy provides better performance than the decoupled one. The relevance of this work relies in the contribution of vehicle motion controllers considering the comfort and its advantage over decoupled alternatives for future implementation in real vehicles.en
dc.description.sponsorshipThis work has been conducted within the ENABLE-S3 project that has received funding from the ECSEL Joint Undertaking under Grant Agreement No 692455. This work was developed at Tecnalia Research & Innovation facilities supporting this research.en
dc.language.isoengen
dc.publisherIEEEen
dc.titleA Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Modelsen
dc.typeconferenceObjecten
dc.identifier.doi10.1109/ivs.2019.8814256en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/692455/EU/European Initiative to Enable Validation for Highly Automated Safe and Secure Systems/ENABLE-S3en
dc.rights.accessRightsopenAccessen
dc.subject.keywordsVehicle Motionen
dc.subject.keywordsIntelligent Vehiclesen
dc.subject.keywordsModel Predictive Controlen
dc.identifier.essn2642-7214en
dc.page.final1848en
dc.page.initial1843en
dc.identifier.esbn978-1-7281-0560-4en
dc.conference.title2019 IEEE Intelligent Vehicles Symposium (IV) Paris, Franceen


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