Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling

Alberto Bertipaglia; Mohsen Alirezaei; Riender Happee; Barys Shyrokau

doi:10.1007/978-3-031-66968-2_14

Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling

Alberto Bertipaglia^*, Mohsen Alirezaei, Riender Happee, Barys Shyrokau

^*Corresponding author for this work

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

1 Citation (SciVal)

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Abstract

This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle stability objectives, prioritising obstacle avoidance in emergencies. The controller’s prediction model is a non-linear single-track vehicle model with the Fiala tyre to capture the vehicle’s non-linear behaviour. The MPCC computes the optimal steering angle and brake torques to minimise tracking error in safe situations and maximise the vehicle-to-obstacle distance in emergencies. Furthermore, the MPCC is extended with the tyre friction circle to fully exploit the vehicle’s manoeuvrability and stability. The MPCC controller is tested using real-time rapid prototyping hardware to prove its real-time capability. The performance is compared with a state-of-the-art Model Predictive Control (MPC) in a high-fidelity simulation environment. The double lane change scenario results demonstrate a significant improvement in successfully avoiding obstacles and maintaining vehicle stability.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks III
Subtitle of host publication	Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles
Editors	Wei Huang, Mehdi Ahmadian
Publisher	Springer
Pages	132-142
Number of pages	11
Volume	2
ISBN (Print)	9783031669675
DOIs	https://doi.org/10.1007/978-3-031-66968-2_14
Publication status	Published - 2024
Event	28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023 - Ottawa, Canada Duration: 21 Aug 2023 → 25 Aug 2023

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023
Country/Territory	Canada
City	Ottawa
Period	21/08/23 → 25/08/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

handling limits
Model predictive contouring control
obstacle avoidance

Access to Document

10.1007/978-3-031-66968-2_14

978-3-031-66968-2_14Final published version, 1.51 MB

Cite this

Bertipaglia, A., Alirezaei, M., Happee, R., & Shyrokau, B. (2024). Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling. In W. Huang, & M. Ahmadian (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks III: Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles (Vol. 2, pp. 132-142). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-031-66968-2_14

Bertipaglia, Alberto ; Alirezaei, Mohsen ; Happee, Riender et al. / Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling. Advances in Dynamics of Vehicles on Roads and Tracks III: Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. editor / Wei Huang ; Mehdi Ahmadian. Vol. 2 Springer, 2024. pp. 132-142 (Lecture Notes in Mechanical Engineering).

@inproceedings{08985c0b3c184c14b33284232b52fb01,

title = "Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling",

abstract = "This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle stability objectives, prioritising obstacle avoidance in emergencies. The controller{\textquoteright}s prediction model is a non-linear single-track vehicle model with the Fiala tyre to capture the vehicle{\textquoteright}s non-linear behaviour. The MPCC computes the optimal steering angle and brake torques to minimise tracking error in safe situations and maximise the vehicle-to-obstacle distance in emergencies. Furthermore, the MPCC is extended with the tyre friction circle to fully exploit the vehicle{\textquoteright}s manoeuvrability and stability. The MPCC controller is tested using real-time rapid prototyping hardware to prove its real-time capability. The performance is compared with a state-of-the-art Model Predictive Control (MPC) in a high-fidelity simulation environment. The double lane change scenario results demonstrate a significant improvement in successfully avoiding obstacles and maintaining vehicle stability.",

keywords = "handling limits, Model predictive contouring control, obstacle avoidance",

author = "Alberto Bertipaglia and Mohsen Alirezaei and Riender Happee and Barys Shyrokau",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023 ; Conference date: 21-08-2023 Through 25-08-2023",

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language = "English",

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Bertipaglia, A, Alirezaei, M, Happee, R & Shyrokau, B 2024, Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling. in W Huang & M Ahmadian (eds), Advances in Dynamics of Vehicles on Roads and Tracks III: Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. vol. 2, Lecture Notes in Mechanical Engineering, Springer, pp. 132-142, 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Ottawa, Canada, 21/08/23. https://doi.org/10.1007/978-3-031-66968-2_14

Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling. / Bertipaglia, Alberto; Alirezaei, Mohsen; Happee, Riender et al.
Advances in Dynamics of Vehicles on Roads and Tracks III: Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. ed. / Wei Huang; Mehdi Ahmadian. Vol. 2 Springer, 2024. p. 132-142 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling

AU - Bertipaglia, Alberto

AU - Alirezaei, Mohsen

AU - Happee, Riender

AU - Shyrokau, Barys

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2024

Y1 - 2024

N2 - This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle stability objectives, prioritising obstacle avoidance in emergencies. The controller’s prediction model is a non-linear single-track vehicle model with the Fiala tyre to capture the vehicle’s non-linear behaviour. The MPCC computes the optimal steering angle and brake torques to minimise tracking error in safe situations and maximise the vehicle-to-obstacle distance in emergencies. Furthermore, the MPCC is extended with the tyre friction circle to fully exploit the vehicle’s manoeuvrability and stability. The MPCC controller is tested using real-time rapid prototyping hardware to prove its real-time capability. The performance is compared with a state-of-the-art Model Predictive Control (MPC) in a high-fidelity simulation environment. The double lane change scenario results demonstrate a significant improvement in successfully avoiding obstacles and maintaining vehicle stability.

AB - This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle stability objectives, prioritising obstacle avoidance in emergencies. The controller’s prediction model is a non-linear single-track vehicle model with the Fiala tyre to capture the vehicle’s non-linear behaviour. The MPCC computes the optimal steering angle and brake torques to minimise tracking error in safe situations and maximise the vehicle-to-obstacle distance in emergencies. Furthermore, the MPCC is extended with the tyre friction circle to fully exploit the vehicle’s manoeuvrability and stability. The MPCC controller is tested using real-time rapid prototyping hardware to prove its real-time capability. The performance is compared with a state-of-the-art Model Predictive Control (MPC) in a high-fidelity simulation environment. The double lane change scenario results demonstrate a significant improvement in successfully avoiding obstacles and maintaining vehicle stability.

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Bertipaglia A, Alirezaei M, Happee R , Shyrokau B. Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling. In Huang W, Ahmadian M, editors, Advances in Dynamics of Vehicles on Roads and Tracks III: Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. Vol. 2. Springer. 2024. p. 132-142. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-3-031-66968-2_14

Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling

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