Yang Hou
ABSTRACT
Aiming at the problem of path tracking of unmanned vehicles, this paper built a vehicle kinematics model and carried out discretization, designed a vehicle lateral motion controller based on model predict control (MPC) to track the vehicle's path on the basis of the existing path, and carried out controller simulation through MATLAB. Simulation results show that the controller has a certain path tracking accuracy.
- Guo H, Shen C, Zhang H, Simultaneous trajectory planning and tracking using an MPC method for cyber-physical systems: A case study of obstacle avoidance for an intelligent vehicle[J]. IEEE Transactions on Industrial Informatics, 2018, 14 (9): 4273-4283.Google Scholar
Cross Ref
- Yu Z, Wang J. Automatic vehicle trajectory tracking control with self-calibration of nonlinear tire force function[C]//2017 American Control Conference (ACC). IEEE, 2017: 985-990.Google Scholar
- Rajesh Rajamani. Vehicle Dynamics and Control [M], China Machine Press, 2018.Google Scholar
- Gong Jianwei, Jiang Yan, Xu Wei. Predictive Control of Driverless Vehicle Model [M], Beijing: Beijing Institute of Technology Press, 2014.Google Scholar
- Wang Yuhan. Research on Trajectory Tracking Control Method of Autonomous Vehicle Based on Fast MPC [D]. Jilin University, 2021. DOI: 10.27162/d.cnki.gjlin.2021.005688.Google Scholar
Index Terms
- Research on vehicle Path Tracking Control based on MPC
Recommendations
Development of a robotic driver for autonomous vehicle following
This paper presents the development of autonomous control of a passenger vehicle for vehicle following using a robotic driver. The aim is to have a modular and transferable device that can autonomously control a standard passenger car. The robot ...
Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
Highlights- A novel passive actuator-fault-tolerant path following control method of autonomous ground electric vehicle with in-wheel motors is proposed by hierarchical ...
AbstractThis paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to ...
A predictive controller for autonomous vehicle path tracking
This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the ...
Comments