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Fast model predictive control for autonomous vehicle빠른 모델예측 제어기를 이용한 자율주행 차량의 능동조향
- Other Titles
- 빠른 모델예측 제어기를 이용한 자율주행 차량의 능동조향
- Issue Date
- May-2012
- Publisher
- 한국자동차공학회
- Keywords
- Model predictive control; Autonomous vehicle; Lane change system; Steering control; Quadratic program
- Citation
- 2012 한국자동차공학회 부문종합 학술대회, no. , pp.775 - 778
- Indexed
- OTHER
- Journal Title
- 2012 한국자동차공학회 부문종합 학술대회
- Start Page
- 775
- End Page
- 778
- Abstract
- In this paper, we present how model predictive control (MPC) is applied to lane change system based on the vision module. The proposed MPC reduces computing time in finding constrained optimal solutions. For the case of fast systems, real-time solution is very difficult to get in the sample time for the system having complexity MPC formulation or many constraints. Weighted forgetting factors are introduced to find effective active constraints. The proposed fast MPC is quickly computable for not only complex MPC formulation but also in the case of no solution. Performance of the proposed control method is validated via simulations implemented in MATLAB/ Simulink and CarSim in real-time environment.
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Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
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Related Researcher
- Chung, Chung Choo
- COLLEGE OF ENGINEERING (MAJOR IN ELECTRICAL ENGINEERING)