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In this paper, we propose a new adaptive side slip observer using a simple combined vehicle dynamics. Though there are many ways to estimate the side slip angle, some problems still exist in the popular estimation techniques based on the kinematic model, the dynamic model, and the combined kinematic-dynamic model. Therefore we propose the adaptive side slip observer. A combined model of linearized...
Vehicle states estimation is one of key points in real-time control for autonomous vehicle. Although there are many solutions to estimate vehicle states, some problems still exist in Luenberger observer and linear quadratic observer respectively. This paper proposes a sliding mode observer for vehicle states estimation. The method is developed to make observer irrespective of any uncertain matched...
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...
A proximate model predictive control strategy is proposed applied to autonomous vehicle lateral control. A simple and fast method to compute an approximate optimal solution is developed from the interpolation between the pre-computed optimal solutions, which is used for warm-start on-line optimization to reduce iterations in finding optimal solutions. The proposed proximate model prediction control...
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