Event-triggered model predictive-preview control strategy for trajectory tracking of autonomous vehicle
Jindou Zhang,
Yanrong Lu,
Zhiwen Wang
et al.
Abstract:This paper proposes an event-triggered model predictive-preview control strategy for autonomous vehicle trajectory tracking. First, the dynamic equation is established based on the preview road curvature and the vehicle’s 2 degree-of-freedom relationship. A model predictive tracking controller is designed by predicting the system dynamics in the future. Second, to reduce the computational burden of the controller, the triggering conditions are designed according to the system’s stability and feasibility. The p… Show more
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