Journal ArticleDOI
Design and evaluation of a model predictive vehicle control algorithm for automated driving using a vehicle traffic simulator
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In this paper, a model predictive control (MPC) based motion planning controller for automated driving on a motorway using a vehicle traffic simulator is presented, where the desired driving mode and a safe driving envelope are determined based on the probabilistic prediction of surrounding vehicles behaviors over a finite prediction horizon.About:
This article is published in Control Engineering Practice.The article was published on 2016-06-01. It has received 50 citations till now. The article focuses on the topics: Model predictive control & Control theory.read more
Citations
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Journal ArticleDOI
Stochastic Model-Predictive Control for Lane Change Decision of Automated Driving Vehicles
TL;DR: The simulation and test results show that the proposed algorithm can handle complicated lane change scenarios, while guaranteeing safety, and is evaluated by performing lane change simulations in MATLAB/Simulink, while considering the effect of combination prediction.
Journal ArticleDOI
Multiobjective Optimization of Lane-Changing Strategy for Intelligent Vehicles in Complex Driving Environments
TL;DR: The TOPSIS algorithm is utilized to solve a multiobjective optimization problem that is subject to lane change performance indices, i.e., trajectory following, comfort, lateral slip and lane-changing efficiency.
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A new safe lane-change trajectory model and collision avoidance control method for automatic driving vehicles
TL;DR: A new safe lane change trajectory model and collision avoidance control method for Society of Automotive Engineers-level 2 automatic driving vehicles is proposed that uses pure steering and combined braking and an effective decision mechanism that considers safety and ergonomics is designed.
Journal ArticleDOI
A Review of Driving Simulation Technology and Applications
TL;DR: A review of driving simulator components, including the vehicle dynamics model, the motion system, and the virtual environment, and how they interact with the human perceptual system in order to create the illusion of the driving are provided.
Journal ArticleDOI
A distributionally robust stochastic optimization-based model predictive control with distributionally robust chance constraints for cooperative adaptive cruise control under uncertain traffic conditions
Shuaidong Zhao,Kuilin Zhang +1 more
TL;DR: The experimental results and analyses demonstrate that the proposed model can obtain string-stable, robust, and safe longitudinal cooperative automated driving control of CAVs by proper settings, including the driving-dynamics prediction model, prediction horizon lengths, and time headways.
References
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Journal ArticleDOI
Survey Constrained model predictive control: Stability and optimality
TL;DR: This review focuses on model predictive control of constrained systems, both linear and nonlinear, and distill from an extensive literature essential principles that ensure stability to present a concise characterization of most of the model predictive controllers that have been proposed in the literature.
Book
Vehicle dynamics and control
TL;DR: In this paper, the authors present a mean value model of SI and Diesel engines, and design and analysis of passive and active automotive suspension components, as well as semi-active and active suspensions.
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Robust constrained model predictive control using linear matrix inequalities
TL;DR: This paper presents a new approach for robust MPC synthesis that allows explicit incorporation of the description of plant uncertainty in the problem formulation, and shows that the feasible receding horizon state-feedback control design robustly stabilizes the set of uncertain plants.
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Robust model predictive control of constrained linear systems with bounded disturbances
TL;DR: This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances by solving the optimal control problem that is solved online.
Journal ArticleDOI
Predictive Active Steering Control for Autonomous Vehicle Systems
TL;DR: The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads, and two approaches with different computational complexities are presented.