Situational Nonlinear Model Predictive Control for Autonomous Driving

被引：0
|
作者：
Spindler, Jonas [1 ]
Hopfgarten, Siegbert [1 ]
Lazutkin, Evgeny [1 ]
Li, Pu [1 ]
机构：
[1] Tech Univ Ilmenau, POB 10 05 65, D-98684 Ilmenau, Germany
来源：
ADVANCES IN ENGINEERING RESEARCH AND APPLICATION | 2019年 / 63卷
关键词：
Nonlinear Model Predictive Control; Autonomous driving; Trajectory following; Combined multiple shooting with collocation;
D O I：
10.1007/978-3-030-04792-4_69
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a situational nonlinear model predictive control (SNMPC) approach for path following in autonomous driving. The reference path is generated using Bernstein polynomials and Bezier curves. Different criteria and weightings are determined in different driving situations. The resulting nonlinear programming problems are solved by the method of combined multiple shooting with collocation. Based on a nonlinear bicycle model, the performance of a conventional model predictive controller and the situational one is compared with a driving scenario including straight ahead driving and highly dynamic obstacle avoidance. The results show the potential for a real-time application of the proposed approach.
引用
收藏
页码：539 / 544
页数：6
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