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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, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2017 (English)In: 2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), IEEE , 2017, p. 109-114Conference paper, Published 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
IEEE , 2017. p. 109-114
Series
IEEE Intelligent Vehicles Symposium, ISSN 1931-0587
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-145824DOI: 10.1109/IVS.2017.7995706ISI: 000425212700017ISBN: 978-1-5090-4804-5 OAI: oai:DiVA.org:liu-145824DiVA, id: diva2:1192072
Conference
28th IEEE Intelligent Vehicles Symposium (IV)
Available from: 2018-03-21 Created: 2018-03-21 Last updated: 2018-03-21

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Morsali, MahdiFrisk, ErikÅslund, Jan
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
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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