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Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing
Energies, 16 (2023), 4; 2006-2026. https://doi.org/10.3390/en16042006
Cvok, Ivan; Pavelko, Lea; Škugor, Branimir; Deur, Joško; Tseng, H. Eric; Ivanovic, Vladimir

Institucijski repozitorij: Repozitorij Fakulteta strojarstva i brodogradnje Sveučilišta u Zagrebu

Citirajte ovaj rad

Cvok, I., Pavelko, L., Škugor, B., Deur, J., Tseng, H. E. i Ivanovic, V. (2023). Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing. Energies, 16. (4), 2006-2026. doi: 10.3390/en16042006

Cvok, Ivan, et al. "Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing." Energies, vol. 16, br. 4, 2023, str. 2006-2026. https://doi.org/10.3390/en16042006

Cvok, Ivan, Lea Pavelko, Branimir Škugor, Joško Deur, H. Eric Tseng i Vladimir Ivanovic. "Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing." Energies 16, br. 4 (2023): 2006-2026. https://doi.org/10.3390/en16042006

Cvok, I., et al. (2023) 'Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing', Energies, 16(4), str. 2006-2026. doi: 10.3390/en16042006

Cvok I, Pavelko L, Škugor B, Deur J, Tseng HE, Ivanovic V. Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing. Energies [Internet]. 17.02.2023. [pristupljeno 14.07.2024.];16(4):2006-2026. doi: 10.3390/en16042006

I. Cvok, L. Pavelko, B. Škugor, J. Deur, H. E. Tseng i V. Ivanovic, "Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing", Energies, vol. 16, br. 4, str. 2006-2026, Veljača 2023. [Online]. Dostupno na: https://urn.nsk.hr/urn:nbn:hr:235:049423. [Citirano: 14.07.2024.]

Za citiranje koristite ovu mrežnu adresu: https://urn.nsk.hr/urn:nbn:hr:235:049423
Podaci o radu
Naslov (engleski)Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing
AutorIvan Cvok
AutorLea Pavelko
AutorBranimir Škugor
AutorJoško Deur
AutorH. Eric Tseng
AutorVladimir Ivanovic
Autorova ustanovaSveučilište u Zagrebu
Fakultet strojarstva i brodogradnje
(Zavod za robotiku i automatizaciju proizvodnih sustava)
(Katedra za strojarsku automatiku)
Znanstveno / umjetničko
područje, polje i grana		TEHNIČKE ZNANOSTI
Strojarstvo
Sažetak (engleski)
Recent advancements in automated driving technology and vehicle connectivity are associated with the development of advanced predictive control systems for improved performance, energy efficiency, safety, and comfort. This paper designs and compares different linear and nonlinear model predictive control strategies for a typical scenario of urban driving, in which the vehicle is approaching a traffic light crossing. In the linear model predictive control (MPC) case, the vehicle acceleration is optimized at every time instant on a prediction horizon to minimize the root-mean-square error of velocity tracking and RMS acceleration as a comfort metric, thus resulting in a quadratic program (QP). To tackle the vehicle-distance-related traffic light constraint, a linear time-varying MPC approach is used. The nonlinear MPC formulation is based on the first-order lag description of the vehicle velocity profile on the prediction horizon, where only two parameters are optimized: the time constant and the target velocity. To improve the computational efficiency of the nonlinear MPC formulation, multiple linear MPCs, i.e., a parallel MPC, are designed for different fixed-lag time constants, which can efficiently be solved by fast QP solvers. The performance of the three MPC approaches is compared in terms of vehicle velocity tracking error, root-mean-square acceleration, traveled distance, and computational time. The proposed control systems can readily be implemented in future automated driving systems, as well as within advanced driver assist systems such as adaptive cruise control or automated emergency braking systems.
Ključne riječi (engleski)
Jezikengleski
Vrsta publikacijeZnanstveni rad - Izvorni znanstveni rad
Status objaveObjavljen
Vrsta recenzijeRecenziran - međunarodna recenzija
Verzija publikacijeObjavljena verzija rada (izdavačev PDF)
Naslov časopisaEnergies
Brojčani podacivol. 16, br. 4, str. 2006-2026
p-ISSN1996-1073
DOIhttps://doi.org/10.3390/en16042006
URN:NBNurn:nbn:hr:235:049423
Datum objave publikacije2023-02-17
URL dokumentahttps://www.mdpi.com/1996-1073/16/4/2006
Vrsta resursaTekst
Prava pristupaOtvoreni pristup
Uvjeti korištenjaIkona licence Imenovanje 4.0 međunarodna (CC BY 4.0)
Datum i vrijeme pohrane2024-07-05 10:41:37