AD_MPC

MPC controller for Autonomous vehicle

Non-linear bicycle dynamics in Frenet–Serret formulas

Typical value for cornering stiffness

--> cornering stiffness per degree is 16~17% of load on tyre.. e.g.

Cornering Stiffness for single front wheel, Cf-> 1000*0.5 *9.81 * 0.165 = 10,000 *0.16 N/degree = 809 N/degree = 46365 N/rad

Cornering Stiffness for single rear wheel, Cr-> 840*0.5 *9.81 * 0.165 = 10,000 *0.16 N/degree = 680 N/degree = 39000 N/rad

References

Bicycle dyanmics (ETH Zurich Racecar)

https://arxiv.org/pdf/1905.05150.pdf

https://github.com/alexliniger/MPCC/blob/master/C%2B%2B/Model/model.cpp

Frenet frame dynamics

Dabbene, Fabrizio, Martina Mammarella, and Ruotolo Vincenzo Pio. "Optimal Trajectory Generation via Robust Model Predictive Control for a Four-Wheel Steering Electric Unmanned Ground Vehicle."

https://webthesis.biblio.polito.it/19284/1/tesi.pdf

Frenet frame kinematics

file:///home/hojin/Downloads/Convoy-final-HAL.pdf

Vehicle dynamics with pitch and roll

Wang, Junjie, et al. "Linear Time-Varying MPC-Based Steering Controller for Vehicle Trajectory Tracking Considering the Effect of Road Topography." 2020 5th International Conference on Control, Robotics and Cybernetics (CRC). IEEE, 2020. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9253449

Steering by wire modeling and The Pacejka Tire Model

https://ddl.stanford.edu/sites/g/files/sbiybj9456/f/publications/2005_Thesis_Yih_Steer_by_Wire_Implications_for_Vehicle_Handling_and_Safety.pdf

Cornering Stiffness identification

https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf