Real-time velocity planning for heavy duty truck with obstacle avoidance
A model predictive controller (MPC) including velocity and path
planner is designed for real time calculation of a safe and
comfortable velocity and steer angle in a heavy duty vehicle. The
calculation time is reduced by finding, based on measurement data,
simple roll and motion model. The roll dynamics of the truck is
constructed using identification of proposed roll model and it is
validated by measurements logged by a heavy duty truck and the
suggested model shows good agreement with the measurement data. The
safety issues such as rollover prevention and moving obstacle
avoidance are taken into account. To increase comfort, acceleration,
jerk, steer angle and steer angle rate are limited. The simulation
and control algorithm is tested in different scenarios, where the
test results show the properties of the algorithm.
Mahdi Morsali, Erik Frisk and Jan Åslund
2017
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