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Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers
dc.contributor.author | Matute Peaspán, José Angel | |
dc.contributor.author | Marcano Sandoval, Mauricio | |
dc.contributor.author | Díaz, Sergio | |
dc.contributor.author | Zubizarreta Pico, Asier | |
dc.contributor.author | Pérez Rastelli, Joshue Manuel | |
dc.date.accessioned | 2020-10-27T11:18:50Z | |
dc.date.available | 2020-10-27T11:18:50Z | |
dc.date.issued | 2020-10-13 | |
dc.identifier.citation | Electronics 9(10) : (2020) // Article ID 1674 | es_ES |
dc.identifier.issn | 2079-9292 | |
dc.identifier.uri | http://hdl.handle.net/10810/47304 | |
dc.description.abstract | settings Open AccessArticle Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers by Jose A. Matute-Peaspan 1,2,* [OrcID] , Mauricio Marcano 1,2 [OrcID] , Sergio Diaz 1 [OrcID] , Asier Zubizarreta 2 [OrcID] and Joshue Perez 1 [OrcID] 1 TECNALIA, Basque Research and Technology Alliance (BRTA), 48160 Derio, Spain 2 Department of Automatic Control and Systems Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain * Author to whom correspondence should be addressed. Electronics 2020, 9(10), 1674; https://doi.org/10.3390/electronics9101674 Received: 4 September 2020 / Revised: 26 September 2020 / Accepted: 8 October 2020 / Published: 13 October 2020 (This article belongs to the Special Issue Autonomous Vehicles Technology) Download PDF Browse Figures Review Reports Abstract Model-based trajectory tracking has become a widely used technique for automated driving system applications. A critical design decision is the proper selection of a vehicle model that achieves the best trade-off between real-time capability and robustness. Blending different types of vehicle models is a recent practice to increase the operating range of model-based trajectory tracking control applications. However, current approaches focus on the use of longitudinal speed as the blending parameter, with a formal procedure to tune and select its parameters still lacking. This work presents a novel approach based on lateral accelerations, along with a formal procedure and criteria to tune and select blending parameters, for its use on model-based predictive controllers for autonomous driving. An electric passenger bus traveling at different speeds over urban routes is proposed as a case study. Results demonstrate that the lateral acceleration, which is proportional to the lateral forces that differentiate kinematic and dynamic models, is a more appropriate model-switching enabler than the currently used longitudinal velocity. Moreover, the advanced procedure to define blending parameters is shown to be effective. Finally, a smooth blending method offers better tracking results versus sudden model switching ones and non-blending techniques. | es_ES |
dc.description.sponsorship | This research was funded by AUTODRIVE within the Electronic Components and Systems for European Leadership Joint Undertaking (ECSEL JU) in collaboration with the European Union’s H2020 Framework Program (H2020/2014-2020) and National Authorities, under Grant No. 737469. | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | MDPI | es_ES |
dc.relation | info:eu-repo/grantAgreement/EC/H2020/737469. | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ | |
dc.subject | vehicle-model blending | es_ES |
dc.subject | trajectory tracking | es_ES |
dc.subject | model predictive control | es_ES |
dc.subject | automated driving | es_ES |
dc.subject | vehicle control | es_ES |
dc.title | Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.date.updated | 2020-10-26T14:22:20Z | |
dc.rights.holder | 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). | es_ES |
dc.relation.publisherversion | https://www.mdpi.com/2079-9292/9/10/1674/htm | es_ES |
dc.identifier.doi | 10.3390/electronics9101674 | |
dc.contributor.funder | European Commission | |
dc.departamentoes | Ingeniería de sistemas y automática | |
dc.departamentoeu | Sistemen ingeniaritza eta automatika |
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Bestelakorik adierazi ezean, itemaren baimena horrela deskribatzen da:2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).