A Nonlinear Model Predictive Control based Virtual Driver for high performance driving

被引：0

作者：

Bruschetta, Mattia ^{[1
]}

Picotti, Enrico ^{[1
]}

Mion, Enrico ^{[1
]}

Chen, Yutao ^{[2
]}

Beghi, Alessandro ^{[1
]}

Minen, Diego ^{[3
]}

机构：

[1] Univ Padua, Dept Informat Engn, Via Gradenigo 6-B, I-35131 Padua, Italy

[2] Eindhoven Univ Technol, Dept Elect Engn, Eindhoven, Netherlands

[3] VIgrade, Udine, Italy

来源：

2019 3RD IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (IEEE CCTA 2019) | 2019年

关键词：

OPTIMIZATION;

D O I：

10.1109/ccta.2019.8920504

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Virtual prototyping is currently a widely used tool for the development of new cars. In this paper, the development of an effective virtual driver (VD) is described, that aims at reproducing real-time driver's behaviour, also at the limit of performance. The proposed VD model, a four-wheel vehicle with longitudinal load transfer and Pacejka's lateral tires forces model, has been implemented in the nonlinear model predictive control framework. The implementation is developed in MATMPC, a Matlab-based open-source toolbox, and tested in co-simulation with commercial software VI-CarRealTime (VI-CRT), specifically designed to reproduce vehicles behaviour. A challenging Double Lane Change (DLC) maneuver has been used to evaluate performance, showing great abilities of the proposed VD in handling track boundaries during high speed manoeuvring.

引用

页码：9 / 14

页数：6

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