%0 Generic
%A Matute, Jose A.
%A Marcano, Mauricio
%A Zubizarreta, Asier
%A Perez, Joshue
%T Longitudinal Model Predictive Control with comfortable speed planner
%J 18th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2018
%D 2018
%X Guaranteeing 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.
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