Development of an Autonomous Driving Controller for Articulated Bus Using Model Predictive Control Algorithm with Inner Model.
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| Title: | Development of an Autonomous Driving Controller for Articulated Bus Using Model Predictive Control Algorithm with Inner Model. |
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| Authors: | Pyun, Beomjoon1 (AUTHOR) bjpyun@katech.re.kr, Seo, Minjun1 (AUTHOR), Kim, Sungjin1 (AUTHOR), Choi, Hyungjeen1 (AUTHOR) |
| Source: | International Journal of Automotive Technology. Apr2022, Vol. 23 Issue 2, p357-366. 10p. |
| Subjects: | Articulated vehicles, Autonomous vehicles, Bus rapid transit, Prediction models, Algorithms, Vehicle models |
| Abstract: | This research suggests an autonomous driving control algorithm for Bus Rapid Transit (BRT, articulated bus). The control algorithm is composed of an integration of MPC (model Predictive Control) and PI control algorithms because vehicles have a lot of delayed systems. Specifically, an MPC algorithm is used as a lateral controller, and a PI control algorithm is used as a longitudinal controller in parallel. To develop the MPC algorithm, path information (path planning) and an inner model is necessary. Thus, the path information is defined as the road center since the BRT is traveling a certain path, and the inner model is defined from the bicycle model of vehicle dynamics. The wheel steering input is controlled based on the predicted lateral movement using the inner model. To develop the PI algorithm, brake pressure and throttle position inputs are controlled based on the longitudinal velocity error. As a result, the integrated control algorithm of MPC and PI is developed in commercial tool Matlab/Simulink with a plant model which is developed in commercial tool TruckSim. In conclusion, the integrated control algorithm is verified in the simulation environment with a standard of ISO-11270 which is to test a Lane Keeping Assist System (LKAS). [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Automotive Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 156105262 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Development of an Autonomous Driving Controller for Articulated Bus Using Model Predictive Control Algorithm with Inner Model. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Pyun%2C+Beomjoon%22">Pyun, Beomjoon</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> bjpyun@katech.re.kr</i><br /><searchLink fieldCode="AR" term="%22Seo%2C+Minjun%22">Seo, Minjun</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Kim%2C+Sungjin%22">Kim, Sungjin</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Choi%2C+Hyungjeen%22">Choi, Hyungjeen</searchLink><relatesTo>1</relatesTo> (AUTHOR) – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Automotive+Technology%22">International Journal of Automotive Technology</searchLink>. Apr2022, Vol. 23 Issue 2, p357-366. 10p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Articulated+vehicles%22">Articulated vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22Autonomous+vehicles%22">Autonomous vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22Bus+rapid+transit%22">Bus rapid transit</searchLink><br /><searchLink fieldCode="DE" term="%22Prediction+models%22">Prediction models</searchLink><br /><searchLink fieldCode="DE" term="%22Algorithms%22">Algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Vehicle+models%22">Vehicle models</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This research suggests an autonomous driving control algorithm for Bus Rapid Transit (BRT, articulated bus). The control algorithm is composed of an integration of MPC (model Predictive Control) and PI control algorithms because vehicles have a lot of delayed systems. Specifically, an MPC algorithm is used as a lateral controller, and a PI control algorithm is used as a longitudinal controller in parallel. To develop the MPC algorithm, path information (path planning) and an inner model is necessary. Thus, the path information is defined as the road center since the BRT is traveling a certain path, and the inner model is defined from the bicycle model of vehicle dynamics. The wheel steering input is controlled based on the predicted lateral movement using the inner model. To develop the PI algorithm, brake pressure and throttle position inputs are controlled based on the longitudinal velocity error. As a result, the integrated control algorithm of MPC and PI is developed in commercial tool Matlab/Simulink with a plant model which is developed in commercial tool TruckSim. In conclusion, the integrated control algorithm is verified in the simulation environment with a standard of ISO-11270 which is to test a Lane Keeping Assist System (LKAS). [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Automotive Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1007/s12239-022-0033-y Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 10 StartPage: 357 Subjects: – SubjectFull: Articulated vehicles Type: general – SubjectFull: Autonomous vehicles Type: general – SubjectFull: Bus rapid transit Type: general – SubjectFull: Prediction models Type: general – SubjectFull: Algorithms Type: general – SubjectFull: Vehicle models Type: general Titles: – TitleFull: Development of an Autonomous Driving Controller for Articulated Bus Using Model Predictive Control Algorithm with Inner Model. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Pyun, Beomjoon – PersonEntity: Name: NameFull: Seo, Minjun – PersonEntity: Name: NameFull: Kim, Sungjin – PersonEntity: Name: NameFull: Choi, Hyungjeen IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 04 Text: Apr2022 Type: published Y: 2022 Identifiers: – Type: issn-print Value: 12299138 Numbering: – Type: volume Value: 23 – Type: issue Value: 2 Titles: – TitleFull: International Journal of Automotive Technology Type: main |
| ResultId | 1 |
