Model predictive control (MPC) is a commonly applied vehicle control technique, but its performance depends highly on how accurate the model captures the vehicle dynamics. It is disreputable hard to get a precise vehicle model in complex situations. The unmodeled dynamic will cause the uncertainty of the prediction which brings the risk while overtaking. To address this issue, Gaussian process (GP) regression is employed to acquire the unexplored discrepancy between the nominal vehicle model and the real vehicle dynamics which can result in a more accurate model. To achieve safe overtaking at highway curves, the constraint conditions are carefully designed. The implementation of GP-based MPC including approximate uncertainty propagation and safety constraints ensures that the ego vehicle overtakes the obstacles without collision. Simulation results show that GP-based MPC has a strong adaptability to different scenarios and outperforms MPC in overtaking control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Gaussian Process based Model Predictive Control for Overtaking Scenarios at Highway Curves


    Beteiligte:
    Liu, Wenjun (Autor:in) / Zhai, Yulin (Autor:in) / Chen, Guang (Autor:in) / Knoll, Alois (Autor:in)


    Erscheinungsdatum :

    05.06.2022


    Format / Umfang :

    1627992 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Research on Critical Test Scenarios of Automated Vehicle Overtaking on Highway

    Lv, Haoran / Gao, Pengfei / Yuan, Kang et al. | British Library Conference Proceedings | 2022


    Research on Critical Test Scenarios of Automated Vehicle Overtaking on Highway

    Lv, Haoran / Shu, Hong / Yuan, Kang et al. | SAE Technical Papers | 2022


    Highway Vehicles’ Overtaking Classification

    Aldulaimi Hamid Shimal / Ben Hamed Bassem | DOAJ | 2022

    Freier Zugriff

    Research on Critical Test Scenarios of Automated Vehicle Overtaking on Highway

    Lv, Haoran / Gao, Pengfei / Yuan, Kang et al. | British Library Conference Proceedings | 2022


    PREDICTIVE OVERTAKING SUPPORT

    STAMP ALEXANDER / ALENIUS MIKAEL | Europäisches Patentamt | 2024

    Freier Zugriff