A Hierarchical Model Predictive Control Framework for Autonomous Ground Vehicles

Falcone, Paolo,1977Chalmers tekniska högskola,Chalmers University of Technology (författare)

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.

TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Reglerteknik hsv//swe
ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering hsv//eng
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

Av författaren/redakt...: Falcone, Paolo, ...; Borrelli, France ...; Tseng, H. Eric; Asgari, Jahan; Hrovat, Davor

Om ämnet

TEKNIK OCH TEKNOLOGIER: TEKNIK OCH TEKNO ...; och Elektroteknik oc ...; och Reglerteknik

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