Herein, we describe a newly designed model predictive control algorithm. When we drive under condition of high speed and high steering, the front wheels of the vehicle experience a large lateral force. This lateral force causes longitudinal deceleration, which naturally reduces the vehicle speed. The model predictive control method used for the high level guidance of autonomous vehicles relies on a kinematic model with three states (x, y, and theta), and this model does not take into account the effect of steering on the longitudinal acceleration. We developed a model predictive controller for extreme maneuvering of autonomous driving vehicles, in which the influence of steering on the longitudinal acceleration is considered during cornering. We verified the improvement in terms of lap time reduction and the ability to track the reference trajectory more accurately.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear Model Predictive Control for Aggressive Cornering Maneuver Considering Effect of Large Steering Angle


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Kang, Jonggu (Autor:in) / Lee, Jonghang (Autor:in) / Ahn, Kyungjae (Autor:in) / Lee, Shihyun (Autor:in) / Lee, Taekgyu (Autor:in)

    Kongress:

    Asia-Pacific Automotive Engineering Conference ; 2019



    Erscheinungsdatum :

    2019-03-25




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Nonlinear Model Predictive Control for Aggressive Cornering Maneuver Considering Effect of Large Steering Angle

    Lee, Taekgyu / Lee, Jonghang / Ahn, Kyungjae et al. | British Library Conference Proceedings | 2019


    AUTONOMOUS VEHICLE CORNERING MANEUVER

    MILLER KENNETH JAMES / LEONE THOMAS G / PERKINS WILLIAM PAUL et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    Autonomous vehicle cornering maneuver

    MILLER KENNETH JAMES / LEONE THOMAS G / PERKINS WILLIAM PAUL et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    Steering control of vehicle considering changes of the tire cornering stiffness

    Hosaka, Motoaki / Murakami, Toshiyuki | Tema Archiv | 2004


    Steering Control of Vehicle Considering Changes of The Tire Cornering Stiffness

    Murakami, M. H. T. | British Library Conference Proceedings | 2004