1 option
Intersection Assist for Vehicle with Dual-Trailers using Nonlinear Model Predictive Control and Unscented Kalman Filter Hyundai-KIA America Technical Center Incorporated
- Format:
- Book
- Conference/Event
- Author/Creator:
- Malla, Rijan, author.
- Conference Name:
- WCX SAE World Congress Experience (2026-04-14 : Detroit, Michigan, United States)
- Language:
- English
- Subjects (All):
- Control systems.
- Vehicle acceleration.
- Trajectory control.
- Trailers.
- Local Subjects:
- Control systems.
- Vehicle acceleration.
- Trajectory control.
- Trailers.
- Physical Description:
- 1 online resource
- Place of Publication:
- Warrendale, PA SAE International 2026
- Summary:
- This paper presents an approach utilizing Nonlinear Model Predictive Control (NMPC) and Unscented Kalman Filter (UKF) to predict system state and control the trajectory of the vehicle with dual trailers in an intersection turn scenario. The UKF estimates vehicle and trailers' lateral traversal velocity states and the NMPC controls the vehicle acceleration and steering to maintain the vehicle's desired heading through the turn. The vehicle's lateral traversal velocity function is formulated using Lyapunov based method which is used as a propagation function in the UKF to improve the estimation accuracy. The lateral traversal velocity is then used as one of the constraints in the NMPC problem. The overall estimation and the control scheme are formulated and assessed in the simulation environment. The simulation results show good tracking and curb avoidance performance
- Notes:
- Vendor supplied data
- Access Restriction:
- Restricted for use by site license
The Penn Libraries is committed to describing library materials using current, accurate, and responsible language. If you discover outdated or inaccurate language, please fill out this feedback form to report it and suggest alternative language.