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Hierarchical Predictive Control for Ground-Vehicle Maneuvering

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Author

  • Karl Berntorp
  • Fredrik Magnusson

Summary, in English

This paper presents a hierarchical approach to feedback-based trajectory generation for improved vehicle autonomy. Hierarchical vehicle-control structures have been used before—for example, in electronic stability control systems, where a low-level control loop tracks high-level references. Here, the control structure includes a nonlinear vehicle model already at the high level to generate optimization-based references. A nonlinear model-predictive control (MPC) formulation, combined with a linearized MPC acting as a backup controller, tracks these references by allocating torque and steer commands. With this structure the two control layers have a physical coupling, which makes it easier for the low-level loop to track the references. Simulation results show improved performance over an approach based on linearized MPC, as well as feasibility for online implementations.

Publishing year

2015

Language

English

Pages

2771-2776

Publication/Series

Proceedings of the 2015 American Control Conference

Document type

Conference paper

Topic

  • Control Engineering

Conference name

American Control Conference, 2015

Conference date

2015-07-01 - 2015-07-03

Conference place

Chicago, IL, United States

Status

Published

Project

  • LCCC
  • Numerical and Symbolic Algorithms for Dynamic Optimization

Research group

  • ELLIIT
  • LCCC