Explicit model predictive control for linear time-variant systems with application to double-lane-change maneuver

• Published in: PloS one Vol. 13; no. 12; p. e0208071
• Main Authors: Lee, Junho, Chang, Hyuk-Jun
• Format: Journal Article
• Language: English
• Published: United States Public Library of Science 04.12.2018; Public Library of Science (PLoS)
• Subjects: Algorithms; Automation - methods; Automobile Driving; Automobile industry; Automobiles; Automotive industry; Computer applications; Computer Simulation; Control algorithms; Control systems design; Control theory; Controllers; Discrete time systems; Electric vehicles; Embedded systems; Energy efficiency; Engineering and Technology; Equipment Design; Lane changing; Linear Models; Linear programming; Mathematical models; Parameter modification; Parameter robustness; Performance enhancement; Physical Sciences; Planning; Predictive control; Process controls; Research and Analysis Methods; Robust control; Simulation; Social Sciences; Software; State space models; Technology application; Time Factors; Time varying control systems; Velocity; South Korea
• DOI: 10.1371/journal.pone.0208071
• ISSN: 1932-6203

Explicit model predictive control (eMPC) has been proposed to reduce the huge computational complexity of MPC while maintaining the performance of MPC. Therefore, this control method has been more widely employed in the automotive industry than MPC. In this paper, an eMPC is designed to perform a double-lane-change (DLC) maneuver. This task has been employed to demonstrate the efficacy of controllers in an autonomous driving situation. In this sense, the proposed controller shows better performance than a driver model designed in CarSim at a high vehicle longitudinal velocity. The main contribution of this paper is to present an eMPC for discrete-time linear time-variant (LTV) systems so that the proposed controller can be robust against parameter variation. In a state-space representation of the vehicle, the longitudinal velocity of the vehicle is assumed to be a constant so that the whole system is linear time-invariant (LTI). However, it is inevitable that this velocity varies in an actual driving situation. Therefore, an eMPC controller is designed using an add-on unit to consider the varying parameter without modification of the eMPC solution. The CarSim simulation results of eMPC show enhanced performance compared to that of eMPC for the LTI system.