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Implementation and design of ultra-local model-based control strategy for autonomous vehicles.
- Source :
-
Vehicle System Dynamics . Jun2024, Vol. 62 Issue 6, p1541-1564. 24p. - Publication Year :
- 2024
-
Abstract
- The paper presents a novel control strategy for autonomous vehicles, which can effectively handle the nonlinear effects and uncertainties of the controlled system. This solution is based on a new formulation of the ultra-local model-based control approach. This method can deal with the unknown dynamics and other uncertainties of the vehicle without any further measurement or complex modelling process. The control methods require a reduced-complexity nominal linear model of the system, and the unknown part is continuously estimated by the proposed ultra-local model. The proposed control-oriented vehicle modelling method leads to an increased performance level of vehicle motion. The effectiveness of the proposed method through a high-fidelity vehicle simulator (CarMaker) is illustrated. Moreover, the operation of the control through its implementation on a test vehicle of ThyssenKrupp is also demonstrated. [ABSTRACT FROM AUTHOR]
- Subjects :
- *AUTONOMOUS vehicles
*LINEAR systems
*VEHICLE models
*AUTOMOBILE industry
Subjects
Details
- Language :
- English
- ISSN :
- 00423114
- Volume :
- 62
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- Vehicle System Dynamics
- Publication Type :
- Academic Journal
- Accession number :
- 176862083
- Full Text :
- https://doi.org/10.1080/00423114.2023.2242530