Predictive Control with Sliding Mode for Autonomous Driving Vehicle Lateral Maneuvering

被引：0

作者：

Lee, Seung-Hi ^{[1
]}

Chung, Chung Choo ^{[1
]}

机构：

[1] Hanyang Univ, Dept Elect Engn, Seoul 04763, South Korea

来源：

2017 AMERICAN CONTROL CONFERENCE (ACC) | 2017年

关键词：

Autonomous vehicle; Vehicle control; Path planning; Predictive control; Sliding mode; STEERING CONTROL; LOCALIZATION; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An innovative paradigm of path planning and control is proposed for autonomous driving vehicles. The scheme applies predictive control with sliding mode to solve the problem of path planning in the vehicle coordinates and control. The path for lateral motion is given by a sliding hyperplane in terms of lateral error and velocity in the vehicle coordinates. Sliding mode control is applied to attain stable reduced order sliding motion on the hyperplane. Predictive control is developed for reaching the hyperplane. Mathematical proof for stability and existence of sliding mode is provided, together with an application to demonstrate utility of the proposed predictive control with sliding mode.

引用

页码：2998 / 3003

页数：6

共 21 条

[1]

[Anonymous], 1981, PRACTICAL METHODS OP

[2]

[Anonymous], 2002, Predictive Control: With Constraints

[3] Experimental assessment of low-cost GPS-based localization in railway worksite-like scenarios [J].

Bondavalli, Andrea ;

Ceccarelli, Andrea ;

Gogaj, Florjan ;

Seminatore, Andrea ;

Vadursi, Michele .

MEASUREMENT, 2013, 46 (01) :456-466

[4]

Dickmanns ED, 2002, IV'2002: IEEE INTELLIGENT VEHICLE SYMPOSIUM, PROCEEDINGS, P268

[5]

Edwards C., 1998, Sliding mode control: theory and applications

[6] Predictive active steering control for autonomous vehicle systems [J].

Falcone, Paolo ;

Borrelli, Francesco ;

Asgari, Jahan ;

Tseng, Hongtei Eric ;

Hrovat, Davor .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2007, 15 (03) :566-580

[7] Robust automatic steering control for look-down reference systems with front and rear sensors [J].

Guldner, J ;

Sienel, W ;

Tan, HS ;

Ackermann, J ;

Patwardhan, S ;

Bünte, T .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1999, 7 (01) :2-11

[8]

Hao Li, 2010, 2010 13th International IEEE Conference on Intelligent Transportation Systems (ITSC 2010), P1657, DOI 10.1109/ITSC.2010.5625240

[9] Automated lane change controller design [J].

Hatipoglu, C ;

Özgüner, Ü ;

Redmill, KA .

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2003, 4 (01) :13-22

[10]

Kranc G., 1957, IRE Transactions on Automatic Control, V3, P21, DOI DOI 10.1109/TAC.1957.1104783

← 1 2 3 →