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Real-time velocity planning for heavy duty truck with obstacle avoidance
Linköping University, Department of Electrical Engineering, Vehicular Systems.
Linköping University, Department of Electrical Engineering, Vehicular Systems.
2017 (English)In: IEEE Intelligent Vehicle Symposium, 2017Conference paper (Refereed)
Abstract [en]

A model predictive controller (MPC) including velocity and path planner is designed for real time calculation of a safe and comfortable velocity and steer angle in a heavy duty vehicle. The calculation time is reduced by finding, based on measurement data, simple roll and motion model. The roll dynamics of the truck is constructed using identification of proposed roll model and it is validated by measurements logged by a heavy duty truck and the suggested model shows good agreement with the measurement data. The safety issues such as rollover prevention and moving obstacle avoidance are taken into account. To increase comfort, acceleration, jerk, steer angle and steer angle rate are limited. The simulation and control algorithm is tested in different scenarios, where the test results show the properties of the algorithm.

Place, publisher, year, edition, pages
2017.
Keyword [en]
Vehicle Dynamics
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-138371OAI: oai:DiVA.org:liu-138371DiVA: diva2:1109454
Conference
IEEE Intelligent Vehicle Symposium
Available from: 2017-06-14 Created: 2017-06-14 Last updated: 2017-06-14

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf