A Path Tracking Approach for Autonomous Driving on Slippery Surfaces
| Autor: | Massimo Zambelli, Marco Vanzulli, Antonella Ferrara, Enrico Regolin |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Path tracking 020302 automobile design & engineering 02 engineering and technology computer.software_genre Curvature Simulation software Integral sliding mode Vehicle dynamics 020901 industrial engineering & automation 0203 mechanical engineering Robustness (computer science) Control theory Linear model predictive control Reference tracking computer |
| Zdroj: | ICCVE |
| DOI: | 10.1109/iccve45908.2019.8965231 |
| Popis: | In this paper a linear Model Predictive Control (MPC) based controller for the path tracking of a given trajectory is proposed, which generates suitable references for the dynamical vehicle states. The goal of the path tracking is to achieve good performance on slippery conditions. The equations describing the evolution of the path are linearized in order to obtain a suitable model, and linear constraints on the produced reference states are applied based on the prior knowledge of the reachable equilibrium states which characterize steady-state cornering. A previously proposed low-level LQR-ISM (Integral Sliding Mode) controller is exploited for reference tracking, where the ISM component is required in order to enhance the robustness with respect to the several approximations introduced by the linearized models. IPG-CarMaker, a high-fidelity vehicle dynamics simulation software, is used for the validation. The performance is verified on a wet asphalt track characterized by segments of different curvature, and compared against the CarMaker driver. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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