| 1. |
- Falcone, Paolo, 1977, et al.
(författare)
-
A Hierarchical Model Predictive Control Framework for Autonomous Ground Vehicles
- 2008
-
Ingår i: American Control Conference. - 0743-1619. - 9781424420797 ; , s. 3719 - 3724
-
Konferensbidrag (refereegranskat)abstract
- A hierarchical framework based on Model Predictive Control (MPC) for autonomous vehicles is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle while fulfilling various physical and design constraints.We start from the low-level active steering-controller presented in [3], [9] and integrate it with a high level trajectory planner. At both levels MPC design is used. At the high-level, a trajectory is computed on-line, in a receding horizon fashion, based on a simplified point-mass vehicle model. At the low-level a MPC controller computes the vehicle inputs in order to best follow the desired trajectory based on detailed nonlinear vehicle model.This article presents the approach, the method for implementing it, and successful preliminary simulative results on slippery roads at high entry speed.
|
|
| 2. |
- Falcone, Paolo, 1977, et al.
(författare)
-
Effects of Roll Dynamics in Model Predictive Control for Autonomous Vehicles
- 2008
-
Ingår i: 47th IEEE Conference on Decision and Control, December 9-11, 2008, Fiesta Americana Grand Coral Beach, Cancun, Mexico.
-
Konferensbidrag (refereegranskat)abstract
- A Model Predictive Control (MPC) approach for autonomous vehicles is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle. We start from the results presented in [4] and [7], where the MPC problem formulationrelies on a simple bicycle model, and reformulate the problem by using a more complex vehicle model including roll dynamics. We present and discuss simulations of a vehicle performing high speed double lane change maneuvers where roll dynamics become relevant. The results demonstrate that the proposed model based design is able to effectively stabilize the vehicle by using a three dimensional vehicle model at the cost of a highercomputational load.
|
|
| 3. |
- Falcone, Paolo, 1977, et al.
(författare)
-
Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation
- 2008
-
Ingår i: International Journal of Robust and Nonlinear Control. - : Wiley. - 1099-1239 .- 1049-8923. ; 18:8, s. 862-875
-
Tidskriftsartikel (refereegranskat)abstract
- A Model Predictive Control (MPC) approach for controlling an Active Front Steering (AFS) system in an autonomous vehicle is presented. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to best follow the desired trajectory on slippery roads at the highest possible entry speed. We start from the results presented in [2], [6] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). We present a sufficient stability conditions for such LTV MPC scheme. The condition is derived for a general class of nonlinear discrete time systems and results into an additional convex constraint to be included in the LTV MPC design. For the AFS control problem, we compare the proposed LTV MPC scheme against the LTV MPC scheme in [6] where stability has been enforced with an ad-hoc constraint. Simulation and experimental tests up to 21 m/s on icy roads show the effectiveness of the LTV MPC formulation.
|
|
| 4. |
- Falcone, Paolo, 1977, et al.
(författare)
-
Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems
- 2008
-
Ingår i: 9th International Symposium on Advanced Vehicle Control (AVEC ’08).
-
Konferensbidrag (refereegranskat)abstract
- A low complexity Model Predictive Control (MPC) approach to the problem of autonomous path following via combined steering and independent braking is presented in this paper. We start from the simpler approach in [5] and significantly improve the performance by better modeling the longitudinal dynamics and slightly increasing the number of optimization variables, i.e., the computational complexity. In order to assess the performance improvement, simulations are presented and compared against the results of the simpler approach in [5]. Moreover, experimental results are shown and discussed.
|
|
| 5. |
- Falcone, Paolo, 1977, et al.
(författare)
-
MPC-Based Yaw and Lateral Stabilization Via Active Front Steering and Braking
- 2008
-
Ingår i: Vehicle System Dynamics. - : Informa UK Limited. - 1744-5159 .- 0042-3114. ; 46, Supplement:SUPPL.1, s. 611-628
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper we propose a path following Model Predictive Control-based (MPC) scheme utilizing steering and braking. The control objective is to track a desired path for obstacle avoidance maneuver, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [1] and [2]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.
|
|
