Skip to main content
main-content
Top

Hint

Swipe to navigate through the chapters of this book

2020 | OriginalPaper | Chapter

Lateral Control Design for Autonomous Vehicles Using a Big Data-Based Approach

Authors: Dániel Fényes, Balázs Németh, Péter Gáspár

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

Publisher: Springer International Publishing

share
SHARE

Abstract

In the paper an improved Model Predictive Control (MPC) design is presented for autonomous vehicles. The improvement of the control design is based on big data analysis of the lateral vehicle dynamics. In the big data analysis, the decision tree algorithm, C4.5 is used to determine the stable regions of the vehicle. Moreover, C4.5 is extended with the MetaCost algorithm, which is able to weight the percentages of certain misclassifications. In this way, the safe motion of the vehicle can be guaranteed. The results of the big data analysis are states-sets, which are used as constraints in the MPC control design.
Literature
1.
go back to reference Cheng, N., Lyu, F., Chen, J., Xu, W., Zhou, H., Zhang, S., Shen, X.S.: Big data driven vehicular networks. IEEE Netw. 32(6), 160–167 (2018) CrossRef Cheng, N., Lyu, F., Chen, J., Xu, W., Zhou, H., Zhang, S., Shen, X.S.: Big data driven vehicular networks. IEEE Netw. 32(6), 160–167 (2018) CrossRef
2.
go back to reference Coyte, J., Li, B., Du, H., Li, W., Stirling, D., Ros, M.: Decision tree assisted EKF for vehicle slip angle estimation using inertial motion sensors. In: IEEE International Joint Conference on Neural Network (IJCNN 2014), Beijing, China (2014) Coyte, J., Li, B., Du, H., Li, W., Stirling, D., Ros, M.: Decision tree assisted EKF for vehicle slip angle estimation using inertial motion sensors. In: IEEE International Joint Conference on Neural Network (IJCNN 2014), Beijing, China (2014)
3.
go back to reference Fenyes, D., Nemeth, B., Asszonyi, M., Gaspar, P.: Side-slip angle estimation of autonomous road vehicles based on big data analysis. In: 26th Mediterranean Conference on Control and Automation, pp. 849–854, June 2018 Fenyes, D., Nemeth, B., Asszonyi, M., Gaspar, P.: Side-slip angle estimation of autonomous road vehicles based on big data analysis. In: 26th Mediterranean Conference on Control and Automation, pp. 849–854, June 2018
4.
go back to reference Domingos, P.: MetaCost: a general method for making classifiers cost-sensitive. In: 5th International Conference on Knowledge Discovery and Data Mining, San Diego, pp. 155–164 (2019) Domingos, P.: MetaCost: a general method for making classifiers cost-sensitive. In: 5th International Conference on Knowledge Discovery and Data Mining, San Diego, pp. 155–164 (2019)
5.
go back to reference Li, S., Pei, X., Ma, Y.: A new road friction coefficient estimation method based on SVM In: 2012 IEEE International Conference on Mechatronics and Automation, pp. 1910–1914 (2012) Li, S., Pei, X., Ma, Y.: A new road friction coefficient estimation method based on SVM In: 2012 IEEE International Conference on Mechatronics and Automation, pp. 1910–1914 (2012)
6.
go back to reference Song, S., Min, K., Park, J., Kim, H., Huh, K.: Estimating the maximum road friction coefficient with uncertainty using deep learning. In: 21st International Conference on Intelligent Transportation Systems, pp. 3156–3161 (2018) Song, S., Min, K., Park, J., Kim, H., Huh, K.: Estimating the maximum road friction coefficient with uncertainty using deep learning. In: 21st International Conference on Intelligent Transportation Systems, pp. 3156–3161 (2018)
7.
go back to reference Quinlan, J.R.: C4.5: Programs for Machine Learning. Morgan Kaufmann Publishers, San Mateo (1993) Quinlan, J.R.: C4.5: Programs for Machine Learning. Morgan Kaufmann Publishers, San Mateo (1993)
Metadata
Title
Lateral Control Design for Autonomous Vehicles Using a Big Data-Based Approach
Authors
Dániel Fényes
Balázs Németh
Péter Gáspár
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_133

Premium Partner