Comfort oriented nonlinear model predictive control: For autonomous vehicles

To promote automation in vehicles, autonomous driving should feel comfortable. To achieve low discomfort, a comfort oriented nonlinear model predictive controller is created. We know humans are sensitive for discomfort in certain frequencies in acceleration. By penalizing the frequencies for discomfort a higher comfort performance can be...

Path Following Control Design for Passenger Comfort Under Disturbances

In recent years, enormous progress has been made in the field of automated driving. As a consequence, automated driving technologies are becoming increasingly popular. Research on comfort for autonomous vehicles, however, is still limited and unexplored. Some researchers address the comfort issue in path planning by velocity profiles, which...