Scenario Model Predictive Control for Lane Change Assistance and Autonomous Driving on Highways

2017 ◽  
Vol 9 (3) ◽  
pp. 23-35 ◽  
Author(s):  
Gianluca Cesari ◽  
Georg Schildbach ◽  
Ashwin Carvalho ◽  
Francesco Borrelli
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Driving ◽  
Lane Change ◽  
Scenario Model

scholarly journals Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

2018 ◽  
Vol 34 (6) ◽  
pp. 1603-1622 ◽  
Author(s):  
Grady Williams ◽  
Paul Drews ◽  
Brian Goldfain ◽  
James M. Rehg ◽  
Evangelos A. Theodorou
Keyword(s):  
Control Theory ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Driving ◽  
Theoretic Model ◽  
Information Theoretic

A Model Predictive Control Strategy for Lateral and Longitudinal Dynamics in Autonomous Driving

2020 ◽  
Author(s):  
Irfan Khan ◽  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Nicola Amati
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Strategy ◽  
Autonomous Driving ◽  
Maximum Speed ◽  
Reference Trajectory ◽  
Vehicle Speed ◽  
The Road ◽  
Speed Regulation ◽  
Road Geometry

Abstract This paper presents a controller dedicated to the lateral and longitudinal vehicle dynamics control for autonomous driving. The proposed strategy exploits a Model Predictive Control strategy to perform lateral guidance and speed regulation. To this end, the algorithm controls the steering angle and the throttle and brake pedals for minimizing the vehicle’s lateral deviation and relative yaw angle with respect to the reference trajectory, while the vehicle speed is controlled to drive at the maximum acceptable longitudinal speed considering the adherence and legal speed limits. The technique exploits data computed by a simulated camera mounted on the top of the vehicle while moving in different driving scenarios. The longitudinal control strategy is based on a reference speed generator, which computes the maximum speed considering the road geometry and lateral motion of the vehicle at the same time. The proposed controller is tested in highway, interurban and urban driving scenarios to check the performance of the proposed method in different driving environments.

scholarly journals Model predictive control–based cooperative lane change strategy for improving traffic flow

2016 ◽  
Vol 8 (2) ◽  
pp. 168781401663299 ◽  
Author(s):  
Di Wang ◽  
Manjiang Hu ◽  
Yunpeng Wang ◽  
Jianqiang Wang ◽  
Hongmao Qin ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Traffic Flow ◽  
Predictive Control ◽  
Lane Change ◽  
Change Strategy
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