근사 모델예측 제어기를 이용한 자율주행 차량의 능동조향

Abstract

In this paper, we present how model predictive control (MPC), approximate MPC, and proximate MPC are applied to lane keeping system (LKS). The proposed proximate MPC has suboptimal solution closed to its optimal value with reduced iteration in online optimization. Nodal state vectors are generated in the feasible state space, for which the quadratic optimization problem is solved off-line. Vertices are determined to represent a given state as an interpolation between them. An approximate optimal solution is computed from the interpolation between the optimal solutions at each vertex, and is used for warm-start on-line optimization to produce a proximate optimal solution.