This paper describes a vehicle guidance strategy with a focus placed on the reference generation and the control levels. Further to a perception step, performed through the fusion of a Geographic Information System (GIS) and a vision system, the reference generation leads to the computation of a constrained smooth trajectory and a smooth speed profile integrating safety and comfort criteria. The obtained reference set is then used by a longitudinal and NLMPC-based lateral controller providing the steering angle and traction torque. The complete system performance are presented through simulation results based on real-time measurements.
Reference generation and control strategy for automated vehicle guidance
2012 IEEE Intelligent Vehicles Symposium ; 389-394
2012-06-01
1700391 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Reference Generation and Control Strategy for Automated Vehicle Guidance
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