Vorträge und Posterpräsentationen (mit Tagungsband-Eintrag):
A. Schirrer, T. Hanis, M. Klauco, S. Thormann, M. Hromcik, S. Jakubek:
"Safety-extended Explicit MPC for Autonomous Truck Platooning on Varying Road Conditions";
Vortrag: 21st IFAC World Congress,
Berlin;
12.07.2020
- 17.07.2020; in: "Proceedings of the 21st IFAC World Congress",
(2020),
S. 1
- 6.
Kurzfassung englisch:
Automotive platooning can signi cantly improve tra c safety and e ciency, but many control
challenges need to be solved to function properly under realistic driving conditions. This paper
proposes a novel multi-rate explicit model-predictive controller (eMPC) for safe autonomous distributed
vehicle platooning in varying road friction conditions. A safety-augmented distributed
predictive control formulation ensures safe vehicle spacing versus emergency braking of preceding
vehicles given current friction estimates. This complex control problem is carefully formulated
into an e ciently parametrized optimization problem realized as eMPC. The resulting platoon
shows excellent performance in a complex vehicle dynamics co-simulation validation with low
communication and computation demands.
Schlagworte:
Nonlinear and optimal automotive control, Control architectures in automotive control, Vehicle dynamic systems, Distributed MPC, Vehicle formation
Erstellt aus der Publikationsdatenbank der Technischen Universität Wien.