Model Predictive Control for Autonomous Driving Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F21%3A00009028" target="_blank" >RIV/46747885:24220/21:00009028 - isvavai.cz</a>

Alternative codes found

RIV/46747885:24620/21:00009028

Result on the web

<a href="https://www.mdpi.com/2079-9292/10/21/2593" target="_blank" >https://www.mdpi.com/2079-9292/10/21/2593</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/electronics10212593" target="_blank" >10.3390/electronics10212593</a>

Result language

angličtina

Original language name

Model Predictive Control for Autonomous Driving Vehicles

Original language description

The field of autonomous driving vehicles is growing and expanding rapidly. However, the control systems for autonomous driving vehicles still pose challenges, since vehicle speed and steering angle are always subject to strict constraints in vehicle dynamics. The optimal control action for vehicle speed and steering angular velocity can be obtained from the online objective function, subject to the dynamic constraints of the vehicle’s physical limitations, the environmental conditions, and the surrounding obstacles. This paper presents the design of a nonlinear model predictive controller subject to hard and softened constraints. Nonlinear model predictive control subject to softened constraints provides a higher probability of the controller finding the optimal control actions and maintaining system stability. Different parameters of the nonlinear model predictive controller are simulated and analyzed. Results show that nonlinear model predictive control with softened constraints can considerably improve the ability of autonomous driving vehicles to track exactly on different trajectories.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/EF16_025%2F0007293" target="_blank" >EF16_025/0007293: Modular platform for autonomous chassis of specialized electric vehicles for freight and equipment transportation</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Electronics

ISSN

2079-9292

e-ISSN

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Volume of the periodical

10

Issue of the periodical within the volume

21

Country of publishing house

CH - SWITZERLAND

Number of pages

15

Pages from-to

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UT code for WoS article

000718497600001

EID of the result in the Scopus database

2-s2.0-85117578601