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초록
Recent researches suggest the various application of the model predictive control on the vehicle systems. In numerous cases, they use plenty number of performance outputs and inputs that it takes a lot of tuning effort to determine the design factors of the MPC. This paper presents an economical method of tuning MPC design factors based on optimization and applying this method to designing MPC for collision avoidance which is the typical technology of the autonomous vehicle. This approach gives mathematically reasonable determination of the MPC parameters and saves a lot of time for tuning.
키워드
Collision avoidance(충돌회피); Kriging surrogate model(크리깅 대체모델); Lane keeping(차선유지); Nonlinear tire model(비선형 타이어 모델); Model predictive control(MPC, 모델예측제어)
- 제목
- 최적 파라미터 기반 MPC를 이용한 차량 안정화
- 제목 (타언어)
- Vehicle Stabilization Using MPC Based on Optimized Parameter
- 저자
- 송유호; 김한수; 이태희; 허건수
- 발행일
- 2016-05
- 유형
- Proceeding
- 저널명
- 2016 한국자동차공학회 춘계학술대회
- 페이지
- 277 ~ 279