Show simple item record

Domina, Ádám
Tihanyi, Viktor
2022-05-03T10:04:46Z
2022-05-03T10:04:46Z
2022
http://hdl.handle.net/10890/16969
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.
en
Model Predictive Controller for Path Following Applications
Kiadói változat
Open access
Budapest University of Technology and Economics
Faculty of Transportation Engineering and Vehicle Engineering
2022.03.31
Budapest University of Technology and Economics
10.3311/BMEZalaZONE2022-005
Department of Automotive Technologies
Budapest University of Technology and Economics
2022.03.31
ISBN 978-963-421-873-9
Budapest University of Technology and Economics
Budapest
Proceedings of The First Conference on ZalaZONE Related R&I Activities of Budapest University of Technology and Economics 2022
automated vehicle
MPC
vehicle model
The First Conference on ZalaZONE Related R&I Activities of Budapest University of Technology and Economics 2022
24
28


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record