Game-Based Lateral and Longitudinal Coupling Control for Autonomous Vehicle Trajectory Tracking

In this paper, we propose a game-based coupling controller to solve the problem of autonomous vehicles in the trajectory tracking process. The controller ensures path tracking accuracy and shows good tracking performance for the desired speed profile that changes based on navigation while driving. F...

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Bibliographic Details
Published in:IEEE access 2022-01, Vol.10, p.31723-31731
Main Authors: Choi, Young-Min, Park, Jahng-Hyon
Format: Article
Language:English
Subjects:
Automobile industry
Comparative studies
control
Controllers
Costs
Coupling
Driver behavior
Dynamics
Force
intelligent vehicle
Lateral stability
motion planning
Passenger comfort
Path tracking
Predictive control
Tires
Tracking control
Trajectory
Trajectory control
Trajectory planning
Trajectory tracking
Vehicle dynamics
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Summary:In this paper, we propose a game-based coupling controller to solve the problem of autonomous vehicles in the trajectory tracking process. The controller ensures path tracking accuracy and shows good tracking performance for the desired speed profile that changes based on navigation while driving. Furthermore, it improves ride comfort and addresses the lateral stability problems that occur when applying classical model predictive control (MPC) controllers. We implemented this controller to plan the trajectory by considering the fundamental interaction between longitudinal and lateral vehicle dynamics, as well as to track the trajectory by using a receding horizon strategy. A comparative study was conducted to compare the proposed controller with the classical MPC controller. Based on CarMaker-Matlab/Simulink co-simulations, this controller outperformed the classical MPC in terms of trajectory tracking performance. Moreover, it exhibits excellent ride comfort and lateral stability that passengers will experience.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3135489