Skip to main content
main-content
Top

Hint

Swipe to navigate through the chapters of this book

2020 | OriginalPaper | Chapter

Dynamic Multiobjective Control Performance Assessment for an Autonomous Vehicle

Authors: André Kempf, Elias Weber, Steffen Müller

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

share
SHARE

Abstract

Control performance monitoring and assessment has been explored as a research topic by the control community during the last decades. Nevertheless most methods are not ideal for identifying controller performance issues in different scenarios with multiple control objectives. The relatively new field of autonomous driving demands such a measure for evaluating controller performance. In this paper we therefore suggest a method for motion control performance assessment of autonomous vehicles independent of a specific driving situation.
Literature
1.
go back to reference Attia, R., Orjuela, R., Basset, M.: Longitudinal control for automated vehicle guidance. IFAC Proc. Vol. 45(30), 65–71 (2012) CrossRef Attia, R., Orjuela, R., Basset, M.: Longitudinal control for automated vehicle guidance. IFAC Proc. Vol. 45(30), 65–71 (2012) CrossRef
2.
go back to reference Buechel, M., Knoll, A.: An adaptive nonlinear model predictive controller for longitudinal motion of automated vehicles. In: 2016 IEEE Conference on Control Applications (CCA), pp. 103–108. IEEE (2016) Buechel, M., Knoll, A.: An adaptive nonlinear model predictive controller for longitudinal motion of automated vehicles. In: 2016 IEEE Conference on Control Applications (CCA), pp. 103–108. IEEE (2016)
3.
go back to reference Falcone, P., Borrelli, F., Tseng, E.H., Hrovat, D.: On low complexity predictive approaches to control of autonomous vehicles. In: Morari, M., Thoma, M., del Re, L., Allgöwer, F., Glielmo, L., Guardiola, C., Kolmanovsky, I. (eds.) Automotive Model Predictive Control, vol. 402, pp. 195–210. Springer, London (2010) CrossRef Falcone, P., Borrelli, F., Tseng, E.H., Hrovat, D.: On low complexity predictive approaches to control of autonomous vehicles. In: Morari, M., Thoma, M., del Re, L., Allgöwer, F., Glielmo, L., Guardiola, C., Kolmanovsky, I. (eds.) Automotive Model Predictive Control, vol. 402, pp. 195–210. Springer, London (2010) CrossRef
4.
go back to reference Hägglund, T.: Automatic detection of sluggish control loops. Control Eng. Pract. 7(12), 1505–1511 (1999) CrossRef Hägglund, T.: Automatic detection of sluggish control loops. Control Eng. Pract. 7(12), 1505–1511 (1999) CrossRef
5.
go back to reference Harris, T.J.: Assessment of control loop performance. Can. J. Chem. Eng. 67(5), 856–861 (1989) CrossRef Harris, T.J.: Assessment of control loop performance. Can. J. Chem. Eng. 67(5), 856–861 (1989) CrossRef
6.
go back to reference Jämsä-Jounela, S.L., Poikonen, R., Vatanski, N., Rantala, A.: Evaluation of control performance: methods, monitoring tool and applications in a flotation plant. Miner. Eng. 16(11), 1069–1074 (2003) CrossRef Jämsä-Jounela, S.L., Poikonen, R., Vatanski, N., Rantala, A.: Evaluation of control performance: methods, monitoring tool and applications in a flotation plant. Miner. Eng. 16(11), 1069–1074 (2003) CrossRef
7.
go back to reference Jelali, M.: Control Performance Management in Industrial Automation: Assessment, Diagnosis and Improvement of Control Loop Performance. Advances in Industrial Control. Springer, London (2013) CrossRef Jelali, M.: Control Performance Management in Industrial Automation: Assessment, Diagnosis and Improvement of Control Loop Performance. Advances in Industrial Control. Springer, London (2013) CrossRef
Metadata
Title
Dynamic Multiobjective Control Performance Assessment for an Autonomous Vehicle
Authors
André Kempf
Elias Weber
Steffen Müller
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_125

Premium Partner