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Authors: Adam Gotlib ; Krzysztof Jóskowiak ; Piotr Libera ; Marcel Kaliński ; Jakub Bednarek and Maciej Majek

Affiliation: Students’ Robotics Association, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, ul. Nowowiejska 24, 00-665 Warsaw, Poland

Keyword(s): Autonomous Driving, Control Systems, Nonlinear Model Predictive Control.

Abstract: In this paper, we present a novel approach to Model Predictive Control that allows to explore the largest possible portion of the state–space when still using a low–computational–complexity vehicle model. By introducing additional constraint for acceleration magnitude we are able to stay within the limits where the model gives accurate predictions, while driving with high velocity. This effects a behavior similar to one of a professional racing driver, as the controller is able to balance speed and curvature of the vehicle at any point in time.

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Paper citation in several formats:
Gotlib, A.; Jóskowiak, K.; Libera, P.; Kaliński, M.; Bednarek, J. and Majek, M. (2020). Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System. In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-419-0; ISSN 2184-495X, SciTePress, pages 497-503. DOI: 10.5220/0009425704970503

@conference{vehits20,
author={Adam Gotlib. and Krzysztof Jóskowiak. and Piotr Libera. and Marcel Kaliński. and Jakub Bednarek. and Maciej Majek.},
title={Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System},
booktitle={Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2020},
pages={497-503},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009425704970503},
isbn={978-989-758-419-0},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Driving Fast but Safe: On Enforcing Operational Limits of a NMPC System
SN - 978-989-758-419-0
IS - 2184-495X
AU - Gotlib, A.
AU - Jóskowiak, K.
AU - Libera, P.
AU - Kaliński, M.
AU - Bednarek, J.
AU - Majek, M.
PY - 2020
SP - 497
EP - 503
DO - 10.5220/0009425704970503
PB - SciTePress

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