Potential of model predictive control for driving simulators

被引：1

作者：

Lamprecht, Alexander ^{[1
]}

Steffen, Dennis ^{[2
]}

Haecker, Jens ^{[2
]}

Graichen, Knut ^{[1
]}

机构：

[1] Friedrich Alexander Univ Erlangen Nurnberg, Lehrstuhl Regelungstech, Cauerstr 7, D-91058 Erlangen, Germany

[2] Mercedes Benz AG, Fahrsimulatoren RD ASE, Benzstr 1, D-71059 Sindelfingen, Germany

来源：

AT-AUTOMATISIERUNGSTECHNIK | 2021年 / 69卷 / 02期

关键词：

model predictive control; optimization; motion planning; robotics;

D O I：

10.1515/auto-2020-0090

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a motion planning algorithm for dynamic driving simulators based on model predictive control. The goal is to generate a motion impression for a test person which is as realistic as possible while keeping the simulator within its limited motion space. Furthermore, a method to predict the future driver behavior based on optimal control is presented in order to estimate the future reference values for the model predictive control and to take full advantage of the prediction behavior of the algorithm in the online application.

引用

页码：155 / 170

页数：16

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