Model Predictive Control for Autonomous Driving Vehicles

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/46747885:24620/21:00009028

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Model Predictive Control for Autonomous Driving Vehicles

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Model Predictive Control for Autonomous Driving Vehicles

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/EF16_025%2F0007293" target="_blank" >EF16_025/0007293: Modulární platforma pro autonomní podvozky specializovaných elektrovozidel pro dopravu nákladu a zařízení</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Electronics

ISSN

2079-9292

e-ISSN

—

Svazek periodika

10

Číslo periodika v rámci svazku

21

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

15

Strana od-do

—

Kód UT WoS článku

000718497600001

EID výsledku v databázi Scopus

2-s2.0-85117578601