Reference Generation and Control Strategy for Automated Vehicle Guidance

Rachid Attia (1) , Jérémie Daniel (1) , Jean-Philippe Lauffenburger (1) , Rodolfo Orjuela (1) , Michel Basset (1)

1 IRIMAS - Institut de Recherche en Informatique Mathématiques Automatique Signal

This paper describes a vehicle guidance strategy with a focus placed on the reference generation and the control levels. Further to a perception step, performed through the fusion of a Geographic Information System (GIS) and a vision system, the reference generation leads to the computation of a constrained smooth trajectory and a smooth speed profileintegrating safety and comfort criteria. The obtained reference set is then used by a longitudinal and NLMPC-based lateral controller providing the steering angle and traction torque. The complete system performance are presented through simulation results based on real-time measurements.

Mots clés: automated Vehicle Guidance; trajectory and speed profile generation; lateral and longitudinal control; NonLinear Model Predictive Control

Domaines: Automatique / Robotique

Rachid Attia, Jérémie Daniel, Jean-Philippe Lauffenburger, Rodolfo Orjuela, Michel Basset. Reference Generation and Control Strategy for Automated Vehicle Guidance. 2012 IEEE Intelligent Vehicles Symposium, Jun 2012, Alcalá de Henares,, Spain. pp.389-394. ⟨hal-00710077⟩