Linear time varying model based model predictive control for lateral path tracking

Mata, Sara; Cabanes, Itziar; Nieva, Ione; Pinto, Charles

doi:10.1504/ijvd.2018.10011992

Cited by 2 publications

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where y hc , y sc are hard and soft constraints, respectively. In each sampling period, solve (11), we can get:…”

Section: Lateral Controller Designmentioning

confidence: 99%

“…Kapania and Gerdes [10] designed a feedback-feedforward lateral motion controller to reduce the lateral position tracking error and improve the steering stability, but this method is not suitable for vehicles with variable speeds. Pinto et al [11] proposed an optimal trajectory tracking control strategy based on multiple constraints, which obtained good trajectory tracking accuracy by continuously linearizing the error model and using quadratic programming to solve. Novil et al [12] proposed a hierarchical control method of nonlinear model predictive control (NMPC), the high-order MPC calculates the curve of optimal speed and the low-order NMPC constrains the motion curve, and the real-time performance of the control algorithm is improved.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions

Bai

Jin

et al. 2022

Journal of Advanced Transportation

View full text Add to dashboard Cite

Aiming at the problem that it is difficult to ensure the trajectory tracking accuracy and driving stability of the distributed driven driverless formula racing car under high-speed tracking conditions, a lateral and longitudinal coordinated control strategy is proposed. Based on the adaptive model predictive control theory, the lateral motion controller is designed, and the prediction time domain of the controller is changed in real time according to the change of vehicle speed. Based on the sliding mode variable structure control theory, a longitudinal motion controller is designed to accurately track the desired vehicle speed. Considering the coupling between the lateral and longitudinal controls, the lateral controller inputs the longitudinal speed and displacement of the vehicle, using the feedback mechanism to update the prediction model in real time, the longitudinal controller takes the front wheel angle as the input, the driving torque is redistributed through the differential drive control, and the lateral and longitudinal coordinated control is carried out to improve the trajectory tracking accuracy and driving stability. The typical working conditions are selected for co-simulation test verification. The results show that the lateral and longitudinal coordinated control strategy can effectively improve the vehicle trajectory tracking control accuracy and driving stability.

show abstract

“…where y hc , y sc are hard and soft constraints, respectively. In each sampling period, solve (11), we can get:…”

Section: Lateral Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions

Bai

Jin

et al. 2022

Journal of Advanced Transportation

View full text Add to dashboard Cite

show abstract

Emergency obstacle avoidance system of driverless vehicle based on model predictive control

Xie

Gao

et al. 2021

2021 International Conference on Advanced Mechatronic Systems (ICAMechS)

View full text Add to dashboard Cite

Linear time varying model based model predictive control for lateral path tracking

Cited by 2 publications

References 0 publications

Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions

Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions

Emergency obstacle avoidance system of driverless vehicle based on model predictive control

Contact Info

Product

Resources

About