This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Nonlinear Model Predictive Control for Aggressive Cornering Maneuver Considering Effect of Large Steering Angle
Technical Paper
2019-01-1404
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
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.
Recommended Content
Authors
Citation
Lee, T., Lee, J., Ahn, K., Lee, S. et al., "Nonlinear Model Predictive Control for Aggressive Cornering Maneuver Considering Effect of Large Steering Angle," SAE Technical Paper 2019-01-1404, 2019, https://doi.org/10.4271/2019-01-1404.Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 | ||
| Unnamed Dataset 2 | ||
| Unnamed Dataset 3 | ||
| Unnamed Dataset 4 | ||
| Unnamed Dataset 5 | ||
| Unnamed Dataset 6 | ||
| Unnamed Dataset 7 | ||
| Unnamed Dataset 8 | ||
| Unnamed Dataset 9 |
Also In
References
- Roborace 2018 https://roborace.com
- Robin , V. , Stijn , B. , Mario , Z. , Janick , F. et al. Towards Time-Optimal Race Car Driving Using Nonlinear MPC in Rear-Time 53rd IEEE Conference on Decision and Control December 15-17, 2014 Los Angeles, CA 2505 2510 10.1109/CDC.2014.7039771
- Alexander , L. , Alexander , D. , and Manfred , M. Optimization-Based Autonomous Racing of 1:43 Scale RC Cars Optimal Control Applications and Methods 36 5 628 647 2015 10.1002/oca.2123
- Grady , W. , Nolan , W. , Brian , G. , Paul , D. et al. Information Theoretic MPC for Model-Based Reinforcement Learning IEEE International Conference on Robotics and Automation 2017 10.1109/ICRA.2017.7989202
- Jelavic , E. , Gonzales , J. , and Borrelli , F. Autonomous Drift Parking Using a Switched Control Strategy with Onboard Sensors Proceedings 2017 IFAC World Congress 10, 2017 50 1 2017 3714 3719 10.1016/j.ifacol.2017.08.568
- BARC 2018 http://www.barc-project.com
- Wang , Y. , Feng , R. , Pan , D. , Liu , Z. et al. The Trajectory Planning of the Lane Change Assist Based on the Model Predictive Control with Multi-Objective SAE Technical Paper 2017-01-2004 2017 10.4271/2017-01-2004
- Chae , H. , Min , K. , and Yi , K. Model Predictive Control based Automated Driving Lane Change Control Algorithm for Merge Situation on Highway Intersection SAE Technical Paper 2017-01-1441 2017 10.4271/2017-01-1441
- Wang , C. , Zhang , X. , Guo , K. , Ma , F. et al. Application of Stochastic Model Predictive Control to Modeling Driver Steering Skills SAE Int. J. Passeng. Cars - Mech. Syst. 9 1 116 123 2016 10.4271/2016-01-0462
- Santin , O. , Beran , J. , Mikuláš , O. , Pekar , J. et al. On the Robustness of Adaptive Nonlinear Model Predictive Cruise Control SAE Technical Paper 2018-01-1360 2018 10.4271/2018-0-1360
- Heonyoung , L. , Yeonsik , K. , Changwhan , K. , Jongwon , K. et al. Nonlinear Model Predictive Controller Design with Obstacle Avoidance for a Mobile Robot 2008 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications Oct. 12-15, 2008 494 499 10.1109/MESA.2008.4735699
- Chulho , C. and Yeonsik , K. Simultaneous Braking and Steering Control Method Based on Nonlinear Model Predictive Control for Emergency Driving Support International Journal of Control, Automation and Systems 15 1 345 353 2017