Browse Publications Technical Papers 2019-01-1404
2019-03-25

Nonlinear Model Predictive Control for Aggressive Cornering Maneuver Considering Effect of Large Steering Angle 2019-01-1404

Herein, we describe a newly designed model predictive control algorithm. When we drive under condition of high speed and high steering, the front wheels of the vehicle experience a large lateral force. This lateral force causes longitudinal deceleration, which naturally reduces the vehicle speed. The model predictive control method used for the high level guidance of autonomous vehicles relies on a kinematic model with three states (x, y, and theta), and this model does not take into account the effect of steering on the longitudinal acceleration. We developed a model predictive controller for extreme maneuvering of autonomous driving vehicles, in which the influence of steering on the longitudinal acceleration is considered during cornering. We verified the improvement in terms of lap time reduction and the ability to track the reference trajectory more accurately.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

Phenomenological Traffic Simulation as a Basis for an RDE Development Methodology

2019-26-0346

View Details

JOURNAL ARTICLE

Gradient and Mass Estimation from CAN Based Data for a Light Passenger Car

2015-01-0201

View Details

TECHNICAL PAPER

Model Predictive Control based Automated Driving Lane Change Control Algorithm for Merge Situation on Highway Intersection

2017-01-1441

View Details

X