Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers
Model-based trajectory tracking has become a widely used technique for automated driving system applications. A critical design decision is the proper selection of a vehicle model that achieves the best trade-off between real-time capability and robustness. Blending different types of vehicle models...
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2020-10-01
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doaj-f3eaf3aab2124fb4be3739865e0ae47e2020-11-25T03:53:43ZengMDPI AGElectronics2079-92922020-10-0191674167410.3390/electronics9101674Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving ControllersJose A. Matute-Peaspan0Mauricio Marcano1Sergio Diaz2Asier Zubizarreta3Joshue Perez4TECNALIA, Basque Research and Technology Alliance (BRTA), 48160 Derio, SpainTECNALIA, Basque Research and Technology Alliance (BRTA), 48160 Derio, SpainTECNALIA, Basque Research and Technology Alliance (BRTA), 48160 Derio, SpainDepartment of Automatic Control and Systems Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, SpainTECNALIA, Basque Research and Technology Alliance (BRTA), 48160 Derio, SpainModel-based trajectory tracking has become a widely used technique for automated driving system applications. A critical design decision is the proper selection of a vehicle model that achieves the best trade-off between real-time capability and robustness. Blending different types of vehicle models is a recent practice to increase the operating range of model-based trajectory tracking control applications. However, current approaches focus on the use of longitudinal speed as the blending parameter, with a formal procedure to tune and select its parameters still lacking. This work presents a novel approach based on lateral accelerations, along with a formal procedure and criteria to tune and select blending parameters, for its use on model-based predictive controllers for autonomous driving. An electric passenger bus traveling at different speeds over urban routes is proposed as a case study. Results demonstrate that the lateral acceleration, which is proportional to the lateral forces that differentiate kinematic and dynamic models, is a more appropriate model-switching enabler than the currently used longitudinal velocity. Moreover, the advanced procedure to define blending parameters is shown to be effective. Finally, a smooth blending method offers better tracking results versus sudden model switching ones and non-blending techniques.https://www.mdpi.com/2079-9292/9/10/1674vehicle-model blendingtrajectory trackingmodel predictive controlautomated drivingvehicle control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jose A. Matute-Peaspan Mauricio Marcano Sergio Diaz Asier Zubizarreta Joshue Perez |
spellingShingle |
Jose A. Matute-Peaspan Mauricio Marcano Sergio Diaz Asier Zubizarreta Joshue Perez Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers Electronics vehicle-model blending trajectory tracking model predictive control automated driving vehicle control |
author_facet |
Jose A. Matute-Peaspan Mauricio Marcano Sergio Diaz Asier Zubizarreta Joshue Perez |
author_sort |
Jose A. Matute-Peaspan |
title |
Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers |
title_short |
Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers |
title_full |
Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers |
title_fullStr |
Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers |
title_full_unstemmed |
Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers |
title_sort |
lateral-acceleration-based vehicle-models-blending for automated driving controllers |
publisher |
MDPI AG |
series |
Electronics |
issn |
2079-9292 |
publishDate |
2020-10-01 |
description |
Model-based trajectory tracking has become a widely used technique for automated driving system applications. A critical design decision is the proper selection of a vehicle model that achieves the best trade-off between real-time capability and robustness. Blending different types of vehicle models is a recent practice to increase the operating range of model-based trajectory tracking control applications. However, current approaches focus on the use of longitudinal speed as the blending parameter, with a formal procedure to tune and select its parameters still lacking. This work presents a novel approach based on lateral accelerations, along with a formal procedure and criteria to tune and select blending parameters, for its use on model-based predictive controllers for autonomous driving. An electric passenger bus traveling at different speeds over urban routes is proposed as a case study. Results demonstrate that the lateral acceleration, which is proportional to the lateral forces that differentiate kinematic and dynamic models, is a more appropriate model-switching enabler than the currently used longitudinal velocity. Moreover, the advanced procedure to define blending parameters is shown to be effective. Finally, a smooth blending method offers better tracking results versus sudden model switching ones and non-blending techniques. |
topic |
vehicle-model blending trajectory tracking model predictive control automated driving vehicle control |
url |
https://www.mdpi.com/2079-9292/9/10/1674 |
work_keys_str_mv |
AT joseamatutepeaspan lateralaccelerationbasedvehiclemodelsblendingforautomateddrivingcontrollers AT mauriciomarcano lateralaccelerationbasedvehiclemodelsblendingforautomateddrivingcontrollers AT sergiodiaz lateralaccelerationbasedvehiclemodelsblendingforautomateddrivingcontrollers AT asierzubizarreta lateralaccelerationbasedvehiclemodelsblendingforautomateddrivingcontrollers AT joshueperez lateralaccelerationbasedvehiclemodelsblendingforautomateddrivingcontrollers |
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1724477077812412416 |