On Low Complexity Predictive Approaches to Control of Autonomous Vehicles

• In this paper we present low complexity predictive approaches to thecontrol of autonomous vehicles. A general hierarchical architecture for fully autonomousvehicle guidance systems is presented together with a review of two controldesign paradigms. Our review emphasizes the trade off between performanceand computational complexity at different control levels of the architecture. In particular,experimental results are presented, showing that if the controller at the lowerlevel is properly designed, then it can handle system nonlinearities and model uncertaintieseven if those are not taken into account at the higher level.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik -- Farkostteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Model Predictive Control

Stability Control Systems

Vehicle Dynamics Control

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