8/12/2023 0 Comments Horizon 5 traffic cones![]() The longitudinal velocity of the vehicle varies during the DLC maneuver despite the fact that this value is intended to be constant. Lateral displacement of eMPC controllers for LTI and LTV systems with driver model at 100 km/h longitudinal velocity. The vertical range of each window is identical with the constraints of each variable and input. This figure shows the fulfillment of the constraint set ( 14) of the eMPC controller. Simulation result of eMPC controller for the LTI system at a longitudinal velocity of 60 km/h. The main advantage of this approach is that, by simply adding a compensator, where only matrix multiplication is taken in its process, no modification of the critical regions is necessary. In contrast, in Fig 5B, compensating for the state vector with an error compensator, enables the controller to be robust against such parameter variation. In terms of parameter variation, there is no alternative way in Fig 5A to adjust the variation because the critical regions cannot be changed with respect to variation. ![]() Each region owns its unique sequence of optimal vectors, and the controller explicitly chooses a region based on the parameter values.įrameworks of eMPC for LTI systems (A) and LTV systems (B). The generated critical regions of the eMPC controller can be seen in this figure, where 113 critical regions were formed based on the constraint set, of which 16 regions are feasible for obtaining an optimal control input when only z 1 and z 2 vary and the other parameters are fixed. Therefore, the prediction horizon is set to 40 for the controller. ![]() On the other hand, when the prediction ability increases overwhelmingly a prediction horizon of 60 in this case, an extremely early steering is observed. When the prediction horizon is 20, a relatively large error in the lateral displacement appears as the prediction ability of the controller is degraded. This figure shows the tracking ability of the proposed controller with prediction horizons of 20, 40, and 60. Lateral displacement of the vehicle with different prediction horizons. The values of the parameters can be found in Table 1. During driving, the longitudinal velocity of the vehicle is assumed to be constant.Īssuming that the longitudinal velocity is constant, the two degrees of freedom are represented by the lateral displacement, y ltr( t), and the yaw angle δ yaw( t). Performance is evaluated by checking whether the vehicle collides with the traffic cones. The orange line represents the trajectory of the vehicle. This path is a built-in path in CarSim, having 200 m of longitudinal distance, and the vehicle is supposed to change the lane twice within this distance.
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