Virtual prototyping is currently a widely used tool for the development of new cars. In this paper, the development of an effective virtual driver (VD) is described, that aims at reproducing real-time driver’s behaviour, also at the limit of performance. The proposed VD model, a four-wheel vehicle with longitudinal load transfer and Pacejka’s lateral tires forces model, has been implemented in the nonlinear model predictive control framework. The implementation is developed in MATMPC, a Matlab-based open-source toolbox, and tested in co-simulation with commercial software VI-CarRealTime (VI-CRT), specifically designed to reproduce vehicles behaviour. A challenging Double Lane Change (DLC) maneuver has been used to evaluate performance, showing great abilities of the proposed VD in handling track boundaries during high speed manoeuvring.


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    Titel :

    A Nonlinear Model Predictive Control based Virtual Driver for high performance driving


    Beteiligte:
    Bruschetta, Mattia (Autor:in) / Picotti, Enrico (Autor:in) / Mion, Enrico (Autor:in) / Chen, Yutao (Autor:in) / Beghi, Alessandro (Autor:in) / Minen, Diego (Autor:in)


    Erscheinungsdatum :

    2019-08-01


    Format / Umfang :

    918497 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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