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A Hierarchical Mode...
A Hierarchical Model Predictive Control Framework for Autonomous Ground Vehicles
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- Falcone, Paolo, 1977 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Borrelli, Francesco (author)
- University of California
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- Tseng, H. Eric (author)
- Ford Motor Company
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- Asgari, Jahan (author)
- Ford Motor Company
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- Hrovat, Davor (author)
- Ford Motor Company
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(creator_code:org_t)
- ISBN 9781424420797
- 2008
- 2008
- English.
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In: American Control Conference. - 0743-1619. - 9781424420797 ; , s. 3719 - 3724
- Related links:
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Abstract
Subject headings
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- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- point-mass vehicle model
- high level trajectory planner
- low-level active steering-controller
- autonomous ground vehicles
- slippery roads
- nonlinear vehicle model
- hierarchical model predictive control
- front steering angle
Publication and Content Type
- kon (subject category)
- ref (subject category)
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