RT Conference Proceedings
T1 Longitudinal Model Predictive Control with comfortable speed planner
A1 Matute, Jose A.
A1 Marcano, Mauricio
A1 Zubizarreta, Asier
A1 Perez, Joshue
A2 Calado, Joao
A2 Bento, Luis Conde
A2 Oliveira, Paulo
A2 Costelha, Hugo
A2 Lopes, Nuno
AB 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.
PB IEEE
SN 978-1-5386-5222-0
SN 978-1-5386-5221-3
SN 9781538652213
YR 2018
FD 2018-06-06
LA eng
NO Matute , J A , Marcano , M , Zubizarreta , A & Perez , J 2018 , Longitudinal Model Predictive Control with comfortable speed planner . in J Calado , L C Bento , P Oliveira , H Costelha & N Lopes (eds) , unknown . 18th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2018 , IEEE , pp. 60-64 , 18th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2018 , Torres Vedras , Portugal , 25/04/18 . https://doi.org/10.1109/icarsc.2018.8374161
NO conference
NO Publisher Copyright: © 2018 IEEE.
DS TECNALIA Publications
RD 3 jul 2024