A study of a comfortable vehicle motion predictive control with no speed limit reference

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dc.contributor.authorMatute-Peaspan, Jose A.
dc.contributor.authorGonzalez, Leonardo
dc.contributor.authorZubizarreta, Asier
dc.contributor.institutionCCAM
dc.date.accessioned2024-07-24T11:45:34Z
dc.date.available2024-07-24T11:45:34Z
dc.date.issued2019-06
dc.descriptionPublisher Copyright: © 2019 IEEE.
dc.description.abstractIn the last decade great advances have been achieved in the development of reliable Advanced Driver Assistance Systems. The feeling of safety in automated vehicles performing trajectory tracking in urban environments has become an interesting field of study, where several strategies have been proposed. However, most of the current approaches employ speed limiters for the longitudinal control of automated vehicles to avoid discomfort due to excessive lateral accelerations in paths with high curvatures. Therefore, smoothness of the path must be evaluated previously in a planning stage before the trajectory tracking task. In this work, a comparative study is carried out with different comfortable predictive controllers based on kinematic model approaches. Moreover, the novelty of including the lateral acceleration as an additional state parameter into the tracking stage to avoid a previous speed limit calculation is evaluated. A comparison of the strategies is accomplished using a simulated test vehicle within a realistic environment developed in Dynacar. For that purpose, the control architecture for the automated driving problem is exhaustively explained and low-level control disturbances are considered and modeled to scale into a future real implementation of the vehicle motion control strategies. The performed tests demonstrate effectiveness of the proposed approach.en
dc.description.sponsorshipACKNOWLEDGMENT This project has received funding from the Electronic Component Systems for European Leadership Joint Undertaking under grant agreement No 783190 (PRYSTINE Project) and the National HAZITEK 2017 project HI-ADVICE: HIghway ADVanced CruIse AssistanCE. This work was developed at Tecnalia Research & Innovation facilities supporting this work.
dc.description.statusPeer reviewed
dc.identifier.citationMatute-Peaspan , J A , Gonzalez , L & Zubizarreta , A 2019 , A study of a comfortable vehicle motion predictive control with no speed limit reference . in MT-ITS 2019 - 6th International Conference on Models and Technologies for Intelligent Transportation Systems . , 8883285 , MT-ITS 2019 - 6th International Conference on Models and Technologies for Intelligent Transportation Systems , Institute of Electrical and Electronics Engineers Inc. , 6th International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2019 , Krakow , Poland , 5/06/19 . https://doi.org/10.1109/MTITS.2019.8883285
dc.identifier.citationconference
dc.identifier.doi10.1109/MTITS.2019.8883285
dc.identifier.isbn9781538694848
dc.identifier.urihttps://hdl.handle.net/11556/1473
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85074928946&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofMT-ITS 2019 - 6th International Conference on Models and Technologies for Intelligent Transportation Systems
dc.relation.ispartofseriesMT-ITS 2019 - 6th International Conference on Models and Technologies for Intelligent Transportation Systems
dc.relation.projectIDNational, HAZITEK 2017
dc.relation.projectIDHorizon 2020 Framework Programme, H2020, 783190
dc.relation.projectIDElectronic Components and Systems for European Leadership, ECSEL
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsAutomated Driving
dc.subject.keywordsModel Predictive Control
dc.subject.keywordsMotion Planning
dc.subject.keywordsVehicle Dynamics
dc.subject.keywordsTransportation
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsModeling and Simulation
dc.titleA study of a comfortable vehicle motion predictive control with no speed limit referenceen
dc.typeconference output
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