A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control

Motion planning by considering it as an optimal problem is an effective and widely applicable method. Its comprehensive performance greatly depends on the vehicle dynamics model, which is highly coupled and nonlinear, especially under the dynamical scenarios and causes much more consumption of compu...

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Autores principales:	Feng Gao, Qiuxia Hu, Jie Ma, Xiangyu Han
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	automatic driving motion planning vehicle dynamics model predictive control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/db009c2e401e4237aca4b1abb92ecda8
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spelling	oai:doaj.org-article:db009c2e401e4237aca4b1abb92ecda82021-11-11T14:59:52ZA Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control10.3390/app112198872076-3417https://doaj.org/article/db009c2e401e4237aca4b1abb92ecda82021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/9887https://doaj.org/toc/2076-3417Motion planning by considering it as an optimal problem is an effective and widely applicable method. Its comprehensive performance greatly depends on the vehicle dynamics model, which is highly coupled and nonlinear, especially under the dynamical scenarios and causes much more consumption of computation resources for the numerical optimization. To increase the real time performance of the motion planner designed by nonlinear model predictive control (NMPC), a unified and simplified vehicle dynamics model (SDM) is presented to make a balance between the accuracy and complexity for dynamical driving scenarios. Based on the statistical analysis results of naturalistic driving conditions, a unified nonlinear vehicle dynamics model is set up, which considers the tyre cornering characteristic and is also applicable to conditions with large turning angle. After the validation of this coupled dynamics model (CDM) by comparisons with other widely used models under a variety of conditions, the coupling effect is analyzed according to the transfer functions, which are obtained by linearizing CDM at equilibrium points. Furthermore, SDM is derived by ignoring the weak part of the coupling effect. The accuracy of SDM is validated by several comparative studies with other models and it is further applied to design a motion planner by NMPC to validate its contribution on the performance improvement under dynamical driving conditions.Feng GaoQiuxia HuJie MaXiangyu HanMDPI AGarticleautomatic drivingmotion planningvehicle dynamicsmodel predictive controlTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 9887, p 9887 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	automatic driving motion planning vehicle dynamics model predictive control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	automatic driving motion planning vehicle dynamics model predictive control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Feng Gao Qiuxia Hu Jie Ma Xiangyu Han A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control
description	Motion planning by considering it as an optimal problem is an effective and widely applicable method. Its comprehensive performance greatly depends on the vehicle dynamics model, which is highly coupled and nonlinear, especially under the dynamical scenarios and causes much more consumption of computation resources for the numerical optimization. To increase the real time performance of the motion planner designed by nonlinear model predictive control (NMPC), a unified and simplified vehicle dynamics model (SDM) is presented to make a balance between the accuracy and complexity for dynamical driving scenarios. Based on the statistical analysis results of naturalistic driving conditions, a unified nonlinear vehicle dynamics model is set up, which considers the tyre cornering characteristic and is also applicable to conditions with large turning angle. After the validation of this coupled dynamics model (CDM) by comparisons with other widely used models under a variety of conditions, the coupling effect is analyzed according to the transfer functions, which are obtained by linearizing CDM at equilibrium points. Furthermore, SDM is derived by ignoring the weak part of the coupling effect. The accuracy of SDM is validated by several comparative studies with other models and it is further applied to design a motion planner by NMPC to validate its contribution on the performance improvement under dynamical driving conditions.
format	article
author	Feng Gao Qiuxia Hu Jie Ma Xiangyu Han
author_facet	Feng Gao Qiuxia Hu Jie Ma Xiangyu Han
author_sort	Feng Gao
title	A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control
title_short	A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control
title_full	A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control
title_fullStr	A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control
title_full_unstemmed	A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control
title_sort	simplified vehicle dynamics model for motion planner designed by nonlinear model predictive control
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/db009c2e401e4237aca4b1abb92ecda8
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A Simplified Vehicle Dynamics Model for Motion Planner Designed by Nonlinear Model Predictive Control

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