최적 파라미터 기반 MPC를 이용한 차량 안정화

Abstract

Recent researches suggest the various application of the model predictive control on the vehicle systems. In numerous cases, they use plenty number of performance outputs and inputs that it takes a lot of tuning effort to determine the design factors of the MPC. This paper presents an economical method of tuning MPC design factors based on optimization and applying this method to designing MPC for collision avoidance which is the typical technology of the autonomous vehicle. This approach gives mathematically reasonable determination of the MPC parameters and saves a lot of time for tuning.