自动驾驶车辆转向非线性模型预测控制

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-11-09 DOI:10.1109/ICSTCC.2015.7321337

Razvan C. Rafaila, G. Livint

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引用次数: 28

摘要

提出了一种基于非线性模型的地面车辆自动转向预测控制方法。描述了车辆横向动力学数学模型，包括最重要的非线性问题，如横向轮胎力、最优控制问题和转向控制系统。仿真结果表明，该方法在实际应用中具有良好的性能。

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Nonlinear model predictive control of autonomous vehicle steering

In this paper the purpose is to present a nonlinear model based predictive control of autonomous steering for the ground vehicles. The vehicle lateral dynamics mathematical model including the most important nonlinearities such as lateral tire forces, the optimal control problem and the steering control system are described. Simulation results show that this approach could provide good performances in practical applications.

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来源期刊

2015 19th International Conference on System Theory, Control and Computing (ICSTCC)

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