Scenario Analysis and Control Comparison for a High Speed Autonomous Vehicle 2020-01-0710
This paper studies the simulation and control of an autonomous dragster. Four scenarios are provided that are critical to vehicle and driver safety in drag racing. Equations are then created to model the behavior during these safety scenarios. The use of a kinematic bicycle model and a Newtonian wheel stand model are discussed for plane-of-motion and out-of-plane vehicle movement, respectively. Two different controllers are designed for the two separate models. Proportional-Integral-Derivative (PID) control, optimal control, and model predictive control (MPC) are presented and applied to the models. The models are simulated at a speed 75 m/s, being the estimated top speed of the research vehicle in focus. The comparison of the control techniques yields MPC as superior for the bicycle model and PID as sufficient for the wheel stand model. Latency of the system is also discussed and accounted for in the system.
Vatche Donikian, Joseph Bell, Gregory Washington