Model Predictive Control for Autonomous Vehicle Following

被引:3
作者
Bienemann, Alexander [1 ]
Wuensche, Hans-Joachim [1 ]
机构
[1] Univ Bundeswehr, Inst Autonomous Syst Technol TAS, Dept Aerosp Engn, Munich, Germany
来源
2023 IEEE INTELLIGENT VEHICLES SYMPOSIUM, IV | 2023年
关键词
Autonomous Vehicles; Convoy; Model Predictive Control; Trajectory;
D O I
10.1109/IV55152.2023.10186728
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this paper, we present a model predictive control (MPC) approach for the control of an autonomous vehicle following a lead vehicle tracked by onboard sensors. Based on the lead vehicle's movement and position, the MPC calculates a front steering angle and an acceleration in order to follow the path driven by the lead vehicle as accurately as possible, while also maintaining a safety distance between both vehicles. The performance of the MPC was evaluated during practical experiments with an actual autonomous car. The tests were conducted in both on- and off-road environments, with speeds ranging from 1 m/s to 20 m/s.
引用
收藏
页数:6
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