Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System

Adam Gotlib, Krzysztof Jóskowiak, Piotr Libera, Marcel Kaliński, Jakub Bednarek, Maciej Majek

Abstract

In this paper, we present a novel approach to Model Predictive Control that allows to explore the largest possible portion of the state–space when still using a low–computational–complexity vehicle model. By introducing additional constraint for acceleration magnitude we are able to stay within the limits where the model gives accurate predictions, while driving with high velocity. This effects a behavior similar to one of a professional racing driver, as the controller is able to balance speed and curvature of the vehicle at any point in time.

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Paper Citation


in Harvard Style

Gotlib A., Jóskowiak K., Libera P., Kaliński M., Bednarek J. and Majek M. (2020). Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System.In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-419-0, pages 497-503. DOI: 10.5220/0009425704970503


in Bibtex Style

@conference{vehits20,
author={Adam Gotlib and Krzysztof Jóskowiak and Piotr Libera and Marcel Kaliński and Jakub Bednarek and Maciej Majek},
title={Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System},
booktitle={Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2020},
pages={497-503},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009425704970503},
isbn={978-989-758-419-0},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System
SN - 978-989-758-419-0
AU - Gotlib A.
AU - Jóskowiak K.
AU - Libera P.
AU - Kaliński M.
AU - Bednarek J.
AU - Majek M.
PY - 2020
SP - 497
EP - 503
DO - 10.5220/0009425704970503