Nonlinear Model Predictive Control of a Passenger Vehicle for Automated Lane Changes
Nonlinear Model Predictive Control of a Passenger Vehicle for Automated Lane Changes
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Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae
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Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae
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This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for reference tracking. Moreover, a constraint for maintai...
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Nonlinear Model Predictive Control of a Passenger Vehicle for Automated Lane Changes
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TN_cdi_dialnet_primary_oai_dialnet_unirioja_es_ART0001170754
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_dialnet_primary_oai_dialnet_unirioja_es_ART0001170754
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1815-5928,0258-5944
