Motion control of an autonomous vehicle at driving limits

This report explored the driving limit of the autonomous vehicle using MPC control to trace the reference trajectory. The first objective is to develop a MPC controller. The kinematic model of vehicle was established, and state-space equations were derived from the kinematic model. The state-space e...

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Main Author: Luo, Jixin
Other Authors: Lyu Chen
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2021
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Online Access:https://hdl.handle.net/10356/150473
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Institution: Nanyang Technological University
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spelling sg-ntu-dr.10356-1504732021-05-28T08:42:37Z Motion control of an autonomous vehicle at driving limits Luo, Jixin Lyu Chen School of Mechanical and Aerospace Engineering lyuchen@ntu.edu.sg Engineering::Mechanical engineering This report explored the driving limit of the autonomous vehicle using MPC control to trace the reference trajectory. The first objective is to develop a MPC controller. The kinematic model of vehicle was established, and state-space equations were derived from the kinematic model. The state-space equation was non-linear and linearized by Taylor expansion at the reference points. Forward-Euler method was adopted to discretize the model, so that the predictive model could be built. The predictive model was able to predict the state of the vehicle within predict domain, with a given current input and state. Therefore, the error to the refence states can be found with the predictive model. The optimization was defined as by verifying the control value, the error to the reference was minimized with constraints. The optimization problem was solved by MATLAB quadprog() solver, where the constraints come from the geometry restrictions of the vehicle. The results were time series of input, and the input for the current time was passed to the vehicle model to update the vehicle states. With the MPC controller, the simulations were conducted with Simulink, under 2 driving limit scenarios: lane-changing and sharp cornering. The model simulates the motion control of the vehicle with different longitudinal velocities and friction coefficients of the road. The optimal velocity and curvature of the vehicle under designed MPC controller was found by adopting bisection method with trial and error. Bachelor of Engineering (Mechanical Engineering) 2021-05-28T08:42:37Z 2021-05-28T08:42:37Z 2021 Final Year Project (FYP) Luo, J. (2021). Motion control of an autonomous vehicle at driving limits. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/150473 https://hdl.handle.net/10356/150473 en B375 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
spellingShingle Engineering::Mechanical engineering
Luo, Jixin
Motion control of an autonomous vehicle at driving limits
description This report explored the driving limit of the autonomous vehicle using MPC control to trace the reference trajectory. The first objective is to develop a MPC controller. The kinematic model of vehicle was established, and state-space equations were derived from the kinematic model. The state-space equation was non-linear and linearized by Taylor expansion at the reference points. Forward-Euler method was adopted to discretize the model, so that the predictive model could be built. The predictive model was able to predict the state of the vehicle within predict domain, with a given current input and state. Therefore, the error to the refence states can be found with the predictive model. The optimization was defined as by verifying the control value, the error to the reference was minimized with constraints. The optimization problem was solved by MATLAB quadprog() solver, where the constraints come from the geometry restrictions of the vehicle. The results were time series of input, and the input for the current time was passed to the vehicle model to update the vehicle states. With the MPC controller, the simulations were conducted with Simulink, under 2 driving limit scenarios: lane-changing and sharp cornering. The model simulates the motion control of the vehicle with different longitudinal velocities and friction coefficients of the road. The optimal velocity and curvature of the vehicle under designed MPC controller was found by adopting bisection method with trial and error.
author2 Lyu Chen
author_facet Lyu Chen
Luo, Jixin
format Final Year Project
author Luo, Jixin
author_sort Luo, Jixin
title Motion control of an autonomous vehicle at driving limits
title_short Motion control of an autonomous vehicle at driving limits
title_full Motion control of an autonomous vehicle at driving limits
title_fullStr Motion control of an autonomous vehicle at driving limits
title_full_unstemmed Motion control of an autonomous vehicle at driving limits
title_sort motion control of an autonomous vehicle at driving limits
publisher Nanyang Technological University
publishDate 2021
url https://hdl.handle.net/10356/150473
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