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Implementation of Model PredictiveControl for Path Following with the KTH Research Concept Vehicle
KTH, School of Electrical Engineering (EES), Automatic Control.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Trends in research show the interest of autonomously driving cars. One topic within autonomousdriving is path following, which is the topic studied in this project. More specically, development and implementation of model predictive control for path following. A numberof model predictive controllers are developed. Their path following performance is studiedand evaluated in simulations on at, banked, and sloped road surfaces. The eects of usingdierent levels of prediction model complexities are studied, and also the eects of two wheelsteering compared to four wheel steering. The main focus with the design of the controller isfor it to keep the vehicle as close as possible to the path while the ride comfort is maintainedat an acceptable level. The simulation results show the advantages of using more complex predictionmodels, as well as the advantages of four wheel steering. The studies of the dierentmodel predictive control designs, result in that the most suitable controller is implemented,and the path following performance with the KTH Research Concept Vehicle is studied. Thestudies of the path following with the KTH Research Concept Vehicle show the great potentialof using model predictive control for path following, and further improvements are proposed.

Abstract [sv]

Trender inom forskning visar att det nns ett stort intresse for sjalvkorande bilar. Ett omradeinom sjalvkorande fordon ar \path following", vilket ar det som studeras i detta projekt. Mer specikt utveckling och implementering av \model predictive control" for \path following".Ett antal kontroller utvecklas och deras prestanda testas pa bade platta och sluttandeunderlag. Eekterna av att anvanda olika nivaer av komplexitet hos prediktionsmodellernasoch tvahjulsstyrning jamfort med fyrhjulsstyrning studeras. Huvudfokuset med designenpa kontrollerna ar att halla fordonet sa nara den tankta korvagen som mojligt samtidigtsom akkomforten halls pa en acceptabel niva. Simuleringsresultaten visar fordelarna med attanvanda en mer komplex prediktionsmodell och fyrhjulsstyrning. Studierna av de olika kontrollernaresulterade i att den mest lampliga implementerades och \path following" prestandanmed KTH Research Concept Vehicle studerades. Resultaten med KTH Research Concept Vehiclevisade stor potential och ytterligare forbattringar foreslas.

Place, publisher, year, edition, pages
2015. , 75 p.
EES Examensarbete / Master Thesis, TRITA EE 2015-77
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-177638OAI: diva2:873839
Available from: 2015-11-25 Created: 2015-11-25 Last updated: 2015-11-25Bibliographically approved

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