This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles



    Erschienen in:

    Vehicle system dynamics ; 54 , 11 ; 1629-1650


    Erscheinungsdatum :

    2016




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    Lokalklassifikation TIB:    535/7020
    BKL:    55.20 Straßenfahrzeugtechnik / 50.32 Dynamik, Schwingungslehre / 50.32 / 55.20




    A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

    Liu, Jiechao / Jayakumar, Paramsothy / Stein, Jeffrey L. et al. | Taylor & Francis Verlag | 2016


    Obstacle avoidance of autonomous vehicles based on model predictive control

    Park, J-M / Kim, D-W / Yoon, Y-S et al. | SAGE Publications | 2009


    Obstacle avoidance of autonomous vehicles based on model predictive control

    Park, J.M. / Kim, D.W. / Yoon, Y.S. et al. | Tema Archiv | 2009