Implementation and design of ultra-local model-based control strategy for autonomous vehicles
Tamás Hegedűs, Dániel Fényes, Zoltán Szabó, Balázs Németh, Loránd Lukács, Rudolf Csikja, Péter Gáspár
Abstract
The paper presents a novel control strategy for autonomous vehicles, which can effectively handle the nonlinear effects and uncertainties of the controlled system. This solution is based on a new formulation of the ultra-local model-based control approach. This method can deal with the unknown dynamics and other uncertainties of the vehicle without any further measurement or complex modelling process. The control methods require a reduced-complexity nominal linear model of the system, and the unknown part is continuously estimated by the proposed ultra-local model. The proposed control-oriented vehicle modelling method leads to an increased performance level of vehicle motion. The effectiveness of the proposed method through a high-fidelity vehicle simulator (CarMaker) is illustrated. Moreover, the operation of the control through its implementation on a test vehicle of ThyssenKrupp is also demonstrated.