Browsing by Keyword "Authors want to acknowledge their organization. This project_x000D_ has received funding from the Electronic Component Systems_x000D_ for European Leadership Joint Undertaking under grant agreement_x000D_ No 737469 (AutoDrive Project). This Joint Undertaking_x000D_ receives support from the European Unions Horizon 2020_x000D_ research and innovation programme and Germany, Austria, Spain, Italy, Latvia, Belgium, Netherlands, Sweden, Finland,_x000D_ Lithuania, Czech Republic, Romania, Norway. This work_x000D_ was developed at Tecnalia Research & Innovation facilities_x000D_ supporting this research."
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Item Longitudinal Model Predictive Control with comfortable speed planner(IEEE, 2018-06-06) Matute, Jose A.; Marcano, Mauricio; Zubizarreta, Asier; Perez, Joshue; Calado, Joao; Bento, Luis Conde; Oliveira, Paulo; Costelha, Hugo; Lopes, Nuno; CCAMGuaranteeing 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 of simplified control algorithms in real scenarios, and comprehend how to improve them to be more efficient.