A nonlinear model predictive control based virtual driver for high performance driving

Mattia Bruschetta; Enrico Picotti; Enrico Mion; Yutao Chen; Alessandro Beghi; Diego Minen

doi:10.1109/CCTA.2019.8920504

A nonlinear model predictive control based virtual driver for high performance driving

Mattia Bruschetta, Enrico Picotti, Enrico Mion, Yutao Chen, Alessandro Beghi, Diego Minen

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

9 Citaten (Scopus)

Samenvatting

Virtual prototyping is currently a widely used tool for the development of new cars. In this paper, the development of an effective virtual driver (VD) is described, that aims at reproducing real-time driver’s behaviour, also at the limit of performance. The proposed VD model, a four-wheel vehicle with longitudinal load transfer and Pacejka’s lateral tires forces model, has been implemented in the nonlinear model predictive control framework. The implementation is developed in MATMPC, a Matlab-based open-source toolbox, and tested in co-simulation with commercial software VI-CarRealTime (VI-CRT), specifically designed to reproduce vehicles behaviour. A challenging Double Lane Change (DLC) maneuver has been used to evaluate performance, showing great abilities of the proposed VD in handling track boundaries during high speed manoeuvring.

Originele taal-2	Engels
Titel	CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications
Plaats van productie	Piscataway
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	9-14
Aantal pagina's	6
ISBN van elektronische versie	978-1-7281-2767-5
ISBN van geprinte versie	978-1-7281-2768-2
DOI's	https://doi.org/10.1109/CCTA.2019.8920504
Status	Gepubliceerd - 5 dec. 2019
Evenement	3rd IEEE Conference on Control Technology and Applications, CCTA 2019 - Hong Kong, China Duur: 19 aug. 2019 → 21 aug. 2019 Congresnummer: 3 https://ccta2019.ieeecss.org/

Congres

Congres	3rd IEEE Conference on Control Technology and Applications, CCTA 2019
Verkorte titel	CCTA 2019
Land/Regio	China
Stad	Hong Kong
Periode	19/08/19 → 21/08/19
Internet adres	https://ccta2019.ieeecss.org/

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10.1109/CCTA.2019.8920504

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@inproceedings{5dcef13b17cd4e8ab48840c22eff5ee2,

title = "A nonlinear model predictive control based virtual driver for high performance driving",

abstract = "Virtual prototyping is currently a widely used tool for the development of new cars. In this paper, the development of an effective virtual driver (VD) is described, that aims at reproducing real-time driver{\textquoteright}s behaviour, also at the limit of performance. The proposed VD model, a four-wheel vehicle with longitudinal load transfer and Pacejka{\textquoteright}s lateral tires forces model, has been implemented in the nonlinear model predictive control framework. The implementation is developed in MATMPC, a Matlab-based open-source toolbox, and tested in co-simulation with commercial software VI-CarRealTime (VI-CRT), specifically designed to reproduce vehicles behaviour. A challenging Double Lane Change (DLC) maneuver has been used to evaluate performance, showing great abilities of the proposed VD in handling track boundaries during high speed manoeuvring.",

author = "Mattia Bruschetta and Enrico Picotti and Enrico Mion and Yutao Chen and Alessandro Beghi and Diego Minen",

year = "2019",

month = dec,

day = "5",

doi = "10.1109/CCTA.2019.8920504",

language = "English",

isbn = "978-1-7281-2768-2",

pages = "9--14",

booktitle = "CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "3rd IEEE Conference on Control Technology and Applications, CCTA 2019, CCTA 2019 ; Conference date: 19-08-2019 Through 21-08-2019",

url = "https://ccta2019.ieeecss.org/",

}

Bruschetta, M, Picotti, E, Mion, E, Chen, Y, Beghi, A & Minen, D 2019, A nonlinear model predictive control based virtual driver for high performance driving. in CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications., 8920504, Institute of Electrical and Electronics Engineers, Piscataway, blz. 9-14, 3rd IEEE Conference on Control Technology and Applications, CCTA 2019, Hong Kong, China, 19/08/19. https://doi.org/10.1109/CCTA.2019.8920504

A nonlinear model predictive control based virtual driver for high performance driving. / Bruschetta, Mattia; Picotti, Enrico; Mion, Enrico et al.
CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications. Piscataway: Institute of Electrical and Electronics Engineers, 2019. blz. 9-14 8920504.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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T1 - A nonlinear model predictive control based virtual driver for high performance driving

AU - Bruschetta, Mattia

AU - Picotti, Enrico

AU - Mion, Enrico

AU - Chen, Yutao

AU - Beghi, Alessandro

AU - Minen, Diego

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AB - Virtual prototyping is currently a widely used tool for the development of new cars. In this paper, the development of an effective virtual driver (VD) is described, that aims at reproducing real-time driver’s behaviour, also at the limit of performance. The proposed VD model, a four-wheel vehicle with longitudinal load transfer and Pacejka’s lateral tires forces model, has been implemented in the nonlinear model predictive control framework. The implementation is developed in MATMPC, a Matlab-based open-source toolbox, and tested in co-simulation with commercial software VI-CarRealTime (VI-CRT), specifically designed to reproduce vehicles behaviour. A challenging Double Lane Change (DLC) maneuver has been used to evaluate performance, showing great abilities of the proposed VD in handling track boundaries during high speed manoeuvring.

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A nonlinear model predictive control based virtual driver for high performance driving

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