Schucker, Jeremias (Opel Automobile GmbH), Konigorski, Ulrich (Technische Universität Darmstadt)

Linear Time-Variant Vehicle Trajectory Guidance with Nonlinear Inversion-Based Feedforward Control

Scheduled for presentation during the Regular Session "Guidance and Collision Avoidance" (WeAT1), Wednesday, June 26, 2019, 11:50−12:10, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

This work presents a two-degree of freedom (2DOF) control concept for vehicle trajectory guidance for automated driving on highways consisting of a nonlinear feedforward control and a linear time-variant feedback controller. To obtain a linear time-variant system of the error dynamics the nonlinear vehicle model is linearized along a given trajectory. To relieve the feedback controller future knowledge of the vehicle movement contained in the trajectory is used to create a nonlinear inversion-based feedforward control. Finally the control concept is applied in a sophisticated simulation environment and compared to a nonlinear benchmark controller. In addition model states are chosen in a way that all required signals can be obtained by state-of-the-art hardware of production vehicles and thus can be directly applied to it.