Improved LTVMPC design for steering control of autonomous vehicle

13th European Workshop on Advanced Control and Diagnosis

Velhal, Shridhar^1 ; Thomas, Susy^1

Department of Electrical Engineering, National Institute of Technology, Calicut, India^1

关键词: Autonomous Vehicles;    Control strategies;    Future Horizons;    Linear time varying models;    Sampling instants;    Steering control;    Tracking performance;    Vehicle model;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/783/1/012028/pdf
DOI  :  10.1088/1742-6596/783/1/012028

来源: IOP

【 摘 要 】

An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.