Spatial Model Predictive Control for Smooth and Accurate Steering of an Autonomous Truck.

Pedro F. Lima,Mattias Nilsson,Marco Trincavelli,Jonas Martensson,Bo Wahlberg

IEEE Transactions on Intelligent Vehicles（2017）

引用 43|浏览7

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摘要

In this paper, we present an algorithm for lateral control of a vehicle-a smooth and accurate model predictive controller (MPC). The fundamental difference compared to a standard MPC is that the driving smoothness is directly addressed in the cost function. The controller objective is based on the minimization of the first- and second-order spatial derivatives of the curvature. By doing so, jerky ...

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关键词

Autonomous vehicles,Cost function,Computational modeling,Predictive models,Predictive control,Kinematics,Motion planning

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