NLMPC for Real Time Path Following and Collision Avoidance

Ugo Rosolia, Francesco Braghin, Andrew Alleyne, Edoardo Sabbioni

Research output: Contribution to journalArticle

Abstract

This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.

Original languageEnglish (US)
Pages (from-to)401-405
Number of pages5
JournalSAE International Journal of Passenger Cars - Electronic and Electrical Systems
Volume8
Issue number2
DOIs
StatePublished - Aug 1 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Safety, Risk, Reliability and Quality
  • Electrical and Electronic Engineering

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