Talks and Poster Presentations (with Proceedings-Entry):
A. Schirrer, T. Hanis, M. Klauco, S. Thormann, M. Hromcik, S. Jakubek:
"Safety-extended Explicit MPC for Autonomous Truck Platooning on Varying Road Conditions";
Talk: 21st IFAC World Congress,
Berlin;
2020-07-12
- 2020-07-17; in: "Proceedings of the 21st IFAC World Congress",
(2020),
1
- 6.
English abstract:
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.
Keywords:
Nonlinear and optimal automotive control, Control architectures in automotive control, Vehicle dynamic systems, Distributed MPC, Vehicle formation
Created from the Publication Database of the Vienna University of Technology.