Predictive lane-keeping system for an autonomous vehicle (CROSBI ID 696996)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Makarun, Petar ; Ileš, Šandor ; Matuško, Jadranko
engleski
Predictive lane-keeping system for an autonomous vehicle
In this paper, a model predictive control lane keeping system of an autonomous vehicle is proposed. The control algorithm was tested experimentally on a laboratory scaled model of the vehicle. The desired trajectory during the experiment was determined by computer vision. Using image processing the middle of the driving lane and the horizontal profile of the driving lane was recognized. The control algorithm on the vehicle model was implemented in Python and solved using OSQP mathematical programming solver.
Model predictive control, Lane-keeping, Autonomous driving
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Podaci o prilogu
938-942.
2020.
objavljeno
10.23919/mipro48935.2020.9245198
Podaci o matičnoj publikaciji
2020 43rd International Convention on Information, Communication and Electronic Technology (MIPRO)
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
MIPRO 2020
predavanje
28.09.2020-02.10.2020
Opatija, Hrvatska