Aparametric surface is used to describe the nonplanar road which can describe a combination of curvature, bank and slope . We show that the proposedmodeling approach generalizes planar vehicle models that reference acenterline, such as the Frenet model . We use the proposed approach for vehicle path planning and following using model predictive control . We also model and control vehicle contact with the road surface . We demonstrate that the controller improves speed andlane following on complex roads compared to planar vehicles controllers .

Author(s) : Thomas Fork, H. Eric Tseng, Francesco Borrelli

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Keywords : vehicle - control - model - surface - describe -

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