Speed Control in Longitudinal Plane of Autonomous Vehicle Using MPC

2020 ◽  
Author(s):  
Goutham Kumar Mekala ◽  
Naveen Reddy Sarugari ◽  
Ameet Chavan
Keyword(s):  
Autonomous Vehicle ◽  
Speed Control ◽  
Longitudinal Plane

scholarly journals Design of control systems for ABC and speed control for autonomous vehicle

2020 ◽  
Vol 1706 ◽  
pp. 012090
Author(s):  
S Vivek ◽  
B Varsha ◽  
S Tarun Vignesh ◽  
K Anirudh ◽  
K P Peeyush
Keyword(s):  
Control Systems ◽  
Autonomous Vehicle ◽  
Speed Control

Combined Lane Keeping and Longitudinal Speed Control for Autonomous Driving

2019 ◽  
Author(s):  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Control Method ◽  
Autonomous Vehicle ◽  
Speed Control ◽  
Autonomous Driving ◽  
External Input ◽  
The Road ◽  
Longitudinal Dynamic ◽  
Bicycle Model ◽  
Lane Keeping ◽  
Yaw Angle

Abstract This paper presents a technique for the lane keeping and the longitudinal speed control of an autonomous vehicle with the combination of an MPC and a PID control. The goal of the proposed control method is to minimize the lateral deviation and relative yaw angle with respect to the planned trajectory, while driving the vehicle at the highest acceptable longitudinal speed. The reference profile of the longitudinal speed is computed considering both the lateral and longitudinal dynamic of the vehicle. The vehicle is represented by means of a linear 3-DoF bicycle model. The control algorithm takes the road lane boundaries as the only external input. The proposed strategy is validated in simulation on three distinct driving scenarios.

Low Speed Control of an Autonomous Vehicle by Using a Fractional PI Controller

2011 ◽  
Vol 44 (1) ◽  
pp. 15025-15030 ◽  
Author(s):  
Inés Tejado ◽  
Vicente Milanés ◽  
Jorge Villagrá ◽  
Jorge Godoy ◽  
Hassan HosseinNia ◽  
...  
Keyword(s):  
Autonomous Vehicle ◽  
Speed Control ◽  
Pi Controller ◽  
Low Speed
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