文章基本信息

标题：Vehicle Lateral Motion Control with Performance and Safety Guarantees
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作者：L. Ni ; L. Ni ; A. Gupta 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：11
页码：285-290
DOI：10.1016/j.ifacol.2016.08.043
语种：English
出版社：Elsevier
摘要：Abstract This paper explores the use of Model Predictive Control (MPC) techniques to solve vehicle lateral motion control problem on highway scenarios. In particular, the problem of autonomously driving a vehicle along a desired path is formulated, where safety constraints and performance levels must be guaranteed for all possible road curvatures within a compact set. Safety constraints are translated into a maximum lateral deviation and orientation error w.r.t. a desired path, while performance requirements are formulated in terms of bounded lateral acceleration and velocity. Preliminary simulation results show that the designed controller is capable of delivering acceptable performance at the cost of limited online computational costs.
关键词：KeywordsVehicle motion controlsafetymodel predictive controlautonomous driving