An improved model predictive control method for path tracking of autonomous vehicle considering longitudinal velocity

In order to increase the accuracy of the path tracking, an improved model predictive control (IMPC) is proposed for autonomous vehicle under road conditions of large curvature, which can enhance the performances of the driving stability and safety. The controller design is implemented in four steps....

Full description

Saved in:
Bibliographic Details
Published in:Journal of vibration and control 2024-10, Vol.30 (19-20), p.4226-4238
Main Authors: Qin, Wu, Zeng, Weicheng, Ge, Pingzheng, Cheng, Xianfu, Wan, WenXing, Liu, Feifei
Format: Article
Language:English
Subjects:
Autonomous vehicles
Control methods
Control systems design
Curvature
Driving ability
Kinematics
Objective function
Path tracking
Performance prediction
Prediction models
Predictive control
Road conditions
Roads
Safety engineering
Steering
Velocity
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In order to increase the accuracy of the path tracking, an improved model predictive control (IMPC) is proposed for autonomous vehicle under road conditions of large curvature, which can enhance the performances of the driving stability and safety. The controller design is implemented in four steps. First, the curvature of road ahead is derived and applied to determine the longitudinal velocity. Thus, the longitudinal velocity is not assumed to be constant, which is the salient feature of the proposed control. Second, the kinematic model of vehicle is established by the Ackermann steering principle. Third, the predictive model is constructed by linearization and discretization of the kinematic model. Fourth, the longitudinal velocity and the front steering angle are imposed on hard constraints, and the constrained objective function is designed and composed of the position deviation and the control increment. Then, we can obtain the optimal results of the longitudinal velocity and the front steering angle. Furthermore, experiment and simulation on the path tracking of an autonomous vehicle are presented. The results show that the proposed control can realize excellent tracking performance under the road conditions of large curvature.
ISSN:1077-5463
1741-2986
DOI:10.1177/10775463231207119