This work presents a model predictive control (MPC) to perform a double lane change maneuver. The proposed model uses the steering commands with constant velocity to quickly track the desired reference path. The prediction of future movements can help improve how the planar vehicle dynamics are controlled in physical scenarios. Different acceleration profiles are tested to verify the model performance. This paper explains the basics of MPC in the described context. It compares and contrasts the performance of the MPC-based and a PID controller while executing the same maneuver. The results were analyzed using the root-mean-square and maximum error from time-domain signals. It is shown that in some instances, the model predictive control strategy has key benefits when compared to its conventional control counterpart.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Vehicle Longitudinal and Lateral Dynamics Control with Model Predictive Control




    Publication date :

    2021-11-01


    Size :

    1561584 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    A Model Predictive Control Strategy for Lateral and Longitudinal Dynamics in Autonomous Driving

    Khan, Irfan / Feraco, Stefano / Bonfitto, Angelo et al. | British Library Conference Proceedings | 2020



    Driver longitudinal acceleration control model combined with vehicle lateral motion

    Makoto,Y. / Masato,A. / Hitachi,JP et al. | Automotive engineering | 2008