Approximate Explicit MPC를 이용한 차량 횡방향 제어

Abstract

In this paper, we propose a lateral control of automotive vehicles using approximate explicit model predictive control (AEMPC). The proposed technique requires no online quadratic programming (QP) and thus computing control using pre-computed control gains is considerably fast as shown through real-time computational experiments. We performed a comparative study between two controllers of standard model predictive control (MPC) and AEMPC. We have experimentally validated the performance of the proposed method.