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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bo-Ah Kim Seung-Hi Lee Young Ok Lee Chung Choo Chung |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Electrical Engineering, Hanyang University, Seoul 133-791, Korea (Bo-Ah Kim; Young Ok Lee) || Division of Electrical and Biomedical Engineering, Hanyang University, Seoul 133-791, Korea (Seung-Hi Lee; Chung Choo Chung) |
| Abstract | In this paper, we present how model predictive control (MPC) is applied to a lane keeping system and how realtime solution is calculated. In the case of fast systems, real-time solution is very difficult to calculate in the sample time because the system has complex formulation and many constraints. The two proposed methods such as proximate MPC and fast MPC reduce the computation time by finding constrained optimal solution. Optimal solution of the proximate MPC is calculated by interpolation parameter regarding pre-computed optimal solutions. And the fast MPC decreases the number of constraints using weighted forgetting factors in order to find effective active constraints. The comparison of performance of the proposed control methods are validated via simulations implemented in real-time environment. |
| Starting Page | 479 |
| Ending Page | 484 |
| File Size | 1136515 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467322478 |
| e-ISBN | 9788993215045 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-10-17 |
| Publisher Place | Korea (South) |
| Access Restriction | Subscribed |
| Rights Holder | ICROS |
| Subject Keyword | Interpolation Model predictive control Autonomous vehicle Predictive models Quadratic program Lane change system Steering control Vectors Real-time systems Trajectory Vehicles Predictive control |
| Content Type | Text |
| Resource Type | Article |
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