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Implementation and Development of a Trajectory Tracking Control System for Intelligent Vehicle

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Abstract

In this paper, a trajectory tracking control system, which consists of a model predictive control unit and an active safety steering control unit, has been developed. A nonlinear bicycle vehicle model, including the longitudinal, lateral, yaw, and quasi-static roll motions, was derived as a predictive model to simulate and test the proposed model predictive control (MPC) system. A 4-DOF vehicle model was used to reflect the characteristics of vehicle dynamics to avoid rollover accidents of automobiles. Simulation was performed and experiment results demonstrated good performance of both MPC unit and active safety steering control unit. Finally, it was proved that the proposed trajectory tracking control system is easy to realize with low cost.

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Funding

The author(s) disclose receipt of the following financial support for the research, authorship, and/or publication of this article: This work was financially supported by The National Natural Science Fund (No. U1564201 and No. U51675235) and The Research Innovation Program for College Graduates of Jiangsu Province (No.4061120007).

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Authors and Affiliations

  1. School of Automobile and Traffic Engineering, Jiangsu University, Xuefu Road 301, Zhenjiang, 212013, China

    Junyu Cai, Haobin Jiang, Long Chen & Jun Liu

  2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, China

    Haobin Jiang & Yingfeng Cai

  3. School of Automotive Engineering, Zhenjiang College, Zhenjiang, China

    Junyan Wang

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  1. Junyu Cai
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  2. Haobin Jiang
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  3. Long Chen
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  4. Jun Liu
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  5. Yingfeng Cai
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Correspondence to Haobin Jiang.

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Cai, J., Jiang, H., Chen, L. et al. Implementation and Development of a Trajectory Tracking Control System for Intelligent Vehicle. J Intell Robot Syst 94, 251–264 (2019). https://doi.org/10.1007/s10846-018-0834-4

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