Nonlinear Model Predictive Control of a Passenger Vehicle for Automated Lane Changes

This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for refe...

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Published inIngeniería electrónica, automática y comunicaciones Vol. 38; no. 1; pp. 48 - 56
Main Authors Acosta Gil, Andrés F., Márquez Ruíz, Alejandro, Espinosa, Jairo J.
Format Journal Article
LanguagePortuguese
English
Published Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae 01.04.2017
Subjects
AUTOMATION & CONTROL SYSTEMS
COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
COMPUTER SCIENCE, HARDWARE & ARCHITECTURE
Control de cambio de carril
Control Predictivo basado en Modelo
ENGINEERING, BIOMEDICAL
ENGINEERING, ELECTRICAL & ELECTRONIC
Lane Change Control
Model Predictive Control
Modelo de Seguimiento Individual
NANOSCIENCE & NANOTECHNOLOGY
ROBOTICS
Single Track Model
TELECOMMUNICATIONS
Single Track Model
Modelo de Seguimiento Individual
Model Predictive Control
Lane Change Control
Control Predictivo basado en Modelo
Control de cambio de carril
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Summary:This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for reference tracking. Moreover, a constraint for maintaining a safety distance with the vehicles in the target lane is included. Simulation results show the effectiveness of the MPC in scenarios with different initial conditions that demonstrate the correct implementation of the safety distance constraint.
ISSN:1815-5928
0258-5944
1815-5928