Safety-extended Explicit MPC for Autonomous Truck Platooning on Varying Road Conditions

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00346609" target="_blank" >RIV/68407700:21230/20:00346609 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.ifacol.2020.12.1381" target="_blank" >https://doi.org/10.1016/j.ifacol.2020.12.1381</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2020.12.1381" target="_blank" >10.1016/j.ifacol.2020.12.1381</a>

Result language
angličtina
Original language name
Safety-extended Explicit MPC for Autonomous Truck Platooning on Varying Road Conditions
Original language description
Automotive platooning can significantly improve traffic safety and efficiency, but many control challenges need to be solved to function properly under realistic driving conditions. This paper proposes a novel multi-rate explicit model-predictive controller (eMPC) for safe autonomous distributed vehicle platooning in varying road friction conditions. A safety-augmented distributed predictive control formulation ensures safe vehicle spacing versus emergency braking of preceding vehicles given current friction estimates. This complex control problem is carefully formulated into an efficiently parametrized optimization problem realized as eMPC. The resulting platoon shows excellent performance in a complex vehicle dynamics co-simulation validation with low communication and computation demands.
Czech name
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Czech description
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Project
<a href="/en/project/GA19-18424S" target="_blank" >GA19-18424S: Distributed Control of Vehicle Formations and Networked Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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