NLMPC for Real Time Path Following and Collision Avoidance 2015-01-0313
This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.
Citation: Rosolia, U., Braghin, F., Alleyne, A., and Sabbioni, E., "NLMPC for Real Time Path Following and Collision Avoidance," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 8(2):401-405, 2015, https://doi.org/10.4271/2015-01-0313. Download Citation
Author(s):
Ugo Rosolia, Francesco Braghin, Andrew Alleyne, Edoardo Sabbioni
Affiliated:
Politecnico di Milano, Univ of Illinois
Pages: 5
Event:
SAE 2015 World Congress & Exhibition
ISSN:
1946-4614
e-ISSN:
1946-4622
Also in:
SAE International Journal of Passenger Cars - Electronic and Electrical Systems-V124-7EJ
Related Topics:
Collision avoidance systems
Trajectory control
Mathematical models
Optimization
Roads and highways
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