Application of Local Linear Steering Models with Model Predictive Control for Collision Avoidance Maneuvers

被引：2

作者：

Yi, Boliang ^{[1
]}

Ferdinand, Jens ^{[1
]}

Shimm, Norbert ^{[1
]}

Bonarens, Frank ^{[1
]}

机构：

[1] Adam Opel AG, Bahnhofspl 1, D-65423 Russelsheim, Germany

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 15期

关键词：

Automotive; collision avoidance; model predictive control; local linear model tree; steering system;

D O I：

10.1016/j.ifacol.2016.07.730

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Collision avoidance systems demand sophisticated control algorithms to ensure driving on a safe preplanned path. Model predictive control (MPC) is suitable for this task as different influences can be considered by the algorithm. However MPC requires a model of the plant to guarantee good control characteristics. Especially the task to generate a simple steering model covering the considered range of vehicle dynamics is challenging. In this work a concept for an adaptive steering model is presented. The adaptive steering model is integrated in a model predictive control concept for collision avoidance maneuvers. Simulation results show improvement in prediction quality, while achieving modest improvement in control performance. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：187 / 192

页数：6

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