Model Predictive Controller for Path Following Applications

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Abstract
In this article, a model predictive controller (MPC) for automated vehicle path following is presented. The MPC calculates the optimal steering command based on the prediction of the future states of the vehicle and the reference given for the controller. The aim is to minimize the difference between the predicted and the reference states, which is ensured by the optimal control input. The MPC control technique applies a vehicle model for state prediction. In this paper, a bicycle model is used for state prediction, which model is updated at every time step formalizing an LPV-MPC structure. The controller aims to minimize the lateral and angular deviation of the vehicle from a fixed path. A reference path is built, on which the controller is tested, showing a good performance.- Title
- Model Predictive Controller for Path Following Applications
- Author
- Domina, Ádám
- Tihanyi, Viktor
- Date of issue
- 2022
- Access level
- Open access
- Copyright owner
- Budapest University of Technology and Economics
- Conference title
- The First Conference on ZalaZONE Related R&I Activities of Budapest University of Technology and Economics 2022
- Conference place
- Budapest University of Technology and Economics
- Conference date
- 2022.03.31
- Language
- en
- Page
- 24 - 28
- Subject
- automated vehicle, MPC, vehicle model
- Version
- Kiadói változat
- Identifiers
- DOI: 10.3311/BMEZalaZONE2022-005
- Title of the container document
- Proceedings of The First Conference on ZalaZONE Related R&I Activities of Budapest University of Technology and Economics 2022
- ISBN, e-ISBN
- ISBN 978-963-421-873-9
- University
- Budapest University of Technology and Economics
- Faculty
- Faculty of Transportation Engineering and Vehicle Engineering
- Department
- Department of Automotive Technologies