自动驾驶车辆转向的预测控制方法

2006 American Control Conference Pub Date : 2006-06-14 DOI:10.1109/ACC.2006.1657458

T. Keviczky, P. Falcone, F. Borrelli, J. Asgari, D. Hrovat

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引用次数: 145

摘要

提出了一种自动驾驶汽车主动转向的模型预测控制方法。控制器的设计目的是使车辆沿预期路径稳定，同时拒绝阵风并满足其物理约束。在湿滑路面上，侧风抑制和双变道机动的仿真结果表明了系统控制方法的优越性。车辆速度和所需的车辆稳定所需的路径预览之间的权衡是突出显示的

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Predictive control approach to autonomous vehicle steering

A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted

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来源期刊

2006 American Control Conference

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