TY - GEN
T1 - A Real-Time NMPC Controller for Autonomous Vehicle Racing
AU - Li, Nan
AU - Goubault, Eric
AU - Pautet, Laurent
AU - Putot, Sylvie
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022/1/1
Y1 - 2022/1/1
N2 - Non-linear model predictive control (NMPC) solves structured optimization problems under predetermined constraints. It results in an optimal control series in a multiple-step prediction horizon. However, the NMPC requires considerable computation time, making it difficult to implement on devices with limited resources. We focus on an NMPC-based controller used for autonomous vehicle racing. It is a typical representative of quickly evolving cyber-physical systems. In the single-vehicle racing mode, we propose a triggering method to enable the execution of long-horizon NMPC, which is desirable for achieving a better lap time. For the head-to-head racing mode, in order to react rapidly to the evolving surroundings, we propose a short-horizon NMPC-based control strategy with safe overtaking capability. These control strategies can be implemented within a limited time budget.
AB - Non-linear model predictive control (NMPC) solves structured optimization problems under predetermined constraints. It results in an optimal control series in a multiple-step prediction horizon. However, the NMPC requires considerable computation time, making it difficult to implement on devices with limited resources. We focus on an NMPC-based controller used for autonomous vehicle racing. It is a typical representative of quickly evolving cyber-physical systems. In the single-vehicle racing mode, we propose a triggering method to enable the execution of long-horizon NMPC, which is desirable for achieving a better lap time. For the head-to-head racing mode, in order to react rapidly to the evolving surroundings, we propose a short-horizon NMPC-based control strategy with safe overtaking capability. These control strategies can be implemented within a limited time budget.
KW - NMPC
KW - autonomous vehicle racing
KW - real-time systems
UR - https://www.scopus.com/pages/publications/85142420692
U2 - 10.1109/ICACR55854.2022.9935523
DO - 10.1109/ICACR55854.2022.9935523
M3 - Conference contribution
AN - SCOPUS:85142420692
T3 - 2022 6th International Conference on Automation, Control and Robots, ICACR 2022
SP - 148
EP - 155
BT - 2022 6th International Conference on Automation, Control and Robots, ICACR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Automation, Control and Robots, ICACR 2022
Y2 - 23 September 2022 through 25 September 2022
ER -