Model Predictive Control of Autonomous Vehicles

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Model Predictive Control of Autonomous Vehicles

Model Predictive Control of Autonomous Vehicles

Zanon, Mario / Frasch, Janick V. / Vukov, Milan / Sager, Sebastian / Diehl, Moritz

The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is demonstrated in simulations of an obstacle avoidance scenario on a low-fricion icy road.

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Title :

Model Predictive Control of Autonomous Vehicles

Contributors:

Zanon, Mario (author) / Frasch, Janick V. (author) / Vukov, Milan (author) / Sager, Sebastian (author) / Diehl, Moritz (author)

Published in:

Optimization and Optimal Control in Automotive Systems ; 41-57

Lecture Notes in Control and Information Sciences ; 455

Publication date :

2014

Size :

17 Seiten

ISBN :

978-3-319-05371-4 , 978-3-319-05370-7

ISSN :

DOI :

https://doi.org/10.1007/978-3-319-05371-4_3

Type of media :

Article/Chapter (Book)

Type of material :

Print

Language :

English

Keywords :

modellprädiktive Regelung , autonomes Fahrzeug , Regelungstechnik , dynamisches System , Fahrzeuglenkung , Prädiktion , Wegplanung , Fahrzeugdynamik , Fahrerverhalten , Safe , Einschießverfahren , simuliertes Ergebnis

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