Nonlinear model predictive control of a passenger vehicle for automated lane changes

A.F. Acosta; A. Marquez-Ruiz; J.J. Espinosa

Nonlinear model predictive control of a passenger vehicle for automated lane changes

A.F. Acosta, A. Marquez-Ruiz, J.J. Espinosa

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for reference tracking. Moreover, a constraint for maintaining a safety distance with the vehicles in the target lane is included. Simulation results show the effectiveness of the MPC in scenarios with different initial conditions that demonstrate the correct implementation of the safety distance constraint.

Original language	English
Pages (from-to)	48-56
Number of pages	9
Journal	Revista de Ingeniería Electrónica, Automática y Comunicaciones (RIELAC)
Volume	38
Issue number	1
Publication status	Published - 2017

Keywords

Control Predictivo basado en Modelo
Control de cambio de carril
Lane Change Control
Language of Keywords: English
Model Predictive Control
Modelo de Seguimiento Individual
Single Track Model
Spanish

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abstract = "This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for reference tracking. Moreover, a constraint for maintaining a safety distance with the vehicles in the target lane is included. Simulation results show the effectiveness of the MPC in scenarios with different initial conditions that demonstrate the correct implementation of the safety distance constraint.",

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