The paper at hand proposes a real-time capable approach to combined trajectory planning and control. One single prediction model is used to plan a feasible trajectory and to perform lateral guidance of the vehicle at the same time. Nonlinear model predictive control (NMPC) methods are applied to solve the optimal control problem, which incorporates environmental constraints leading to a model predictive planning and control approach (MPPC). Experiments are conducted utilizing a rapid prototyping system. The analysis shows the versatile application range of the developed algorithm, such as challenging emergency evasive maneuvers as well as automated steering as an approach to lateral guidance of the vehicle in general.


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    Title :

    A real-time capable model predictive approach to lateral vehicle guidance




    Publication date :

    2016-11-01


    Size :

    617573 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English