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    Experimental Validation of a Kinematic Bicycle Model Predictive Control with Lateral Acceleration Consideration

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    1-s2.0-S240589631930 ... (748.2Kb)
    Identifiers
    URI: http://hdl.handle.net/11556/774
    ISSN: 2405-8963
    DOI: 10.1016/j.ifacol.2019.08.085
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    Author/s
    Matute, Jose A.; Marcano, Mauricio; Diaz, Sergio; Perez, Joshue
    Date
    2019
    Keywords
    Intelligent Control
    Path Planning
    Intelligent Transportation Systems
    Abstract
    Nowadays, Automated Driving has a growing interest in the scientific and industrial automotive community. The vehicle motion planning is an essential procedure to obtain safe and comfortable trajectories, adapting the longitudinal speed to the road legal limits and mainly to avoid the excessive lateral accelerations along the journey. Typically, the proper speed of the vehicle is intrinsically related to the curvature of the path, requiring a previous approximation of this parameter in the planning stage. In this work, a novel procedure to follow a route trajectory and speed limits considering the lateral acceleration parameter is presented. A lateral jerk equation was developed and introduced into a kinematic bicycle model predictive control formulation. An adaptive speed weight equation that depends on the lateral acceleration is presented to improve the lateral positioning. A vehicle motion control simulation, developed in Dynacar, is validated with some real tests. The results show ...
    Type
    conferenceObject

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