Browse Publications Technical Papers 2019-01-0096
2019-01-16

A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models 2019-01-0096

In the last years the Automated Driving has become an important research field in the automotive area. Trajectory tracking has been one of the main concerns in this area, where several approaches have been proposed. However, most of the approaches only focus on reference tracking, without considering the comfort of the passengers. Moreover, there is a tendency to decouple lateral and longitudinal motion controllers, which reduces the performance of the tracking. In this work, a comparative study is carried out with two different predictive controllers that consider the jerk and steering rate change as additional parameters, so that comfort constraints can be included. Furthermore, the approaches are designed so that the effect of longitudinal and lateral motion control coupling can be analyzed. This way, the first controller is a longitudinal and lateral coupled MPC approach based on a kinematic model of the vehicle, while the second is a decoupled strategy based on a triple integrator model based on MPC for the longitudinal control and a double proportional curvature control for the lateral motion control. The control architecture and motion planning are exhaustively explained. The comparative study is carried out using a test vehicle, whose dynamics and low-level controllers have been simulated using the realistic simulation environment Dynacar. The performed tests demonstrate the effectiveness of both approaches in speeds higher than 30 km/h, and demonstrate that the coupled strategy provides better performance than the decoupled one. The relevance of this work relies in the contribution of vehicle motion controllers considering the comfort and its advantage over decoupled alternatives for future implementation in real vehicles.

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