engleski

Model predictive control of vehicle dynamics

The main topic of this thesis is the development of an autonomous torque vectoring and steering system based on a model predictive control(MPC) algorithm for a linear time varying(LTV) vehicle model. The goal is to ensure good reference tracking, while fulfilling various physical and design constraints. At the beginning, an introduction to existing active safety systems, most common vehicle dynamics modelling approaches and the theory of model predictive control is given. Those chapters present an overview of the mathematical tools used to design the controller. The controller is then described in detail and its performance is tested for the same driving manoeuvre but for different prediction horizon lengths and different linearization approaches. Additionally, autonomously steered vehicle is compared to semi-autonomous vehicle in which the steering angle is determined by the driver. Simulation results are discussed and suggestions for improvement of the algorithm are given.

vehicle dynamics ; model predictive control ; active safety ; autonomous vehicle

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