a) Longitudinal velocity MPC based on LTI model,
b) Lateral MPC with LPV model based on a single-track vehicle model with linear tire cornering force characteristic,
c) The desired path created using spline curves and approximated piecewise-linearly during controller runtime for tracking error calculation.
d) Velocity trajectory generated using the forward-backward iterative algorithm and a simplified “single isotropic tire” model.
Longitudinal and lateral control of vehicle motion implemented in Simulink. Controller performance verified in simulation in a race track scenario using high-fidelity vehicle model in IPG Carmaker, with simulated OTS RT3002 state estimator.
Simulator: IPG Carmaker 6.0.4
Location: Nardo Handling Track
Car model: Tesla Model S
QP Solver: qpOASES
Description of the graphical overlay:
* Left-hand side plots indicate:
1) Velocity tracking
2) Longitudinal acceleration
3) Lateral acceleration
* Right-hand side plots indicate:
1) Crosstrack error
2) Heading error (orange with side slip compensation)
3) Steering angle (orange = open-loop, blue = closed-loop)
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