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dc.contributor.authorMatute, Jose A.
dc.contributor.authorMarcano, Mauricio
dc.contributor.authorDiaz, Sergio
dc.contributor.authorPerez, Joshue
dc.date.accessioned2019-10-11T14:40:54Z
dc.date.available2019-10-11T14:40:54Z
dc.date.issued2019
dc.identifier.citationMatute, Jose A., Mauricio Marcano, Sergio Diaz, and Joshue Perez. “Experimental Validation of a Kinematic Bicycle Model Predictive Control with Lateral Acceleration Consideration.” IFAC-PapersOnLine 52, no. 8 (2019): 289–294. doi:10.1016/j.ifacol.2019.08.085.en
dc.identifier.issn2405-8963en
dc.identifier.urihttp://hdl.handle.net/11556/774
dc.description.abstractNowadays, 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 the capabilities of the proposed approach. An accurate vehicle motion control considers the lateral acceleration to avoid unfeasibility in optimization problem.en
dc.language.isoengen
dc.publisherIFAC Secretariaten
dc.titleExperimental Validation of a Kinematic Bicycle Model Predictive Control with Lateral Acceleration Considerationen
dc.typeconferenceObjecten
dc.identifier.doi10.1016/j.ifacol.2019.08.085en
dc.rights.accessRightsembargoedAccessen
dc.subject.keywordsIntelligent Controlen
dc.subject.keywordsPath Planningen
dc.subject.keywordsIntelligent Transportation Systemsen
dc.issue.number8
dc.journal.titleIFAC-PapersOnLineen
dc.page.final294
dc.page.initial289
dc.volume.number52
dc.conference.title10th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2019, Gdansk, Poland, 3–5 July 2019en


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