Linear MPC for Lane Keeping and Obstacle Avoidance on Low Curvature Roads - Paper Application

Related Paper: Linear MPC for Lane Keeping and Obstacle Avoidance on Low Curvature Roads

Detailed Report

• See Detailed Report

• Controller: Linear MPC Dual Mode

• Parameters:

  • Sampling Rate: 10 Hz
  • Simulation Duration: 20 secs
  • Number of Horizon: 30

• Constraints:

  • Model Specific Constraints
  • Car Mechanical Constraints
  • Model Performance Constraints

Test Results

Three Obstacle Test

• Speed: 50 km/h

Position

States