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Linear model predictive control for lane keeping and obstacle avoidance on low curvature roads
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-7177-0702
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
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2013 (English)In: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, IEEE conference proceedings, 2013, 378-383 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a control architecture based on a linear MPC formulation that addresses the lane keeping and obstacle avoidance problems for a passenger car driving on low curvature roads. The proposed control design decouples the longitudinal and lateral dynamics in two successive stages. First, plausible braking or throttle profiles are defined over the prediction horizon. Then, based on these profiles, linear time-varying models of the vehicle lateral dynamics are derived and used to formulate the associated linear MPC problems. The solutions of the optimization problems are used to determine for every time step, the optimal braking or throttle command and the corresponding steering angle command. Simulations show the ability of the controller to overcome multiple obstacles and keep the lane. Experimental results on an autonomous passenger vehicle driving on slippery roads show the effectiveness of the approach.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 378-383 p.
Keyword [en]
Autonomous vehicle, Obstacle avoidance, Model Predictive Control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-132236DOI: 10.1109/ITSC.2013.6728261ISI: 000346481000060Scopus ID: 2-s2.0-84894356956ISBN: 978-147992914-6 (print)OAI: oai:DiVA.org:kth-132236DiVA: diva2:659211
Conference
16th International IEEE Conference on Intelligent Transportation Systems, The Hague, Netherlands,2013
Note

QC 20140627

Available from: 2013-10-24 Created: 2013-10-24 Last updated: 2015-12-03Bibliographically approved

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Turri, ValerioJohansson, Karl Henrik

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