A Model Predictive Controller with Longitudinal Speed Compensation for Autonomous Vehicle Path Tracking

Applied Sciences

Ying Tian¹  Qiangqiang Yao¹ 

[1] Beijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;

关键词: autonomous vehicle;    path tracking;    model predictive control;    longitudinal speed compensation;   

DOI  :  10.3390/app9224739

来源: DOAJ

【 摘 要 】

Autonomous vehicle path tracking accuracy faces challenges in being accomplished due to the assumption that the longitudinal speed is constant in the prediction horizon in a model predictive control (MPC) control frame. A model predictive control path tracking controller with longitudinal speed compensation in the prediction horizon is proposed in this paper, which reduces the lateral deviation, course deviation, and maintains vehicle stability. The vehicle model, tire model, and path tracking model are described and linearized using the small angle approximation method and an equivalent cornering stiffness method. The mechanism of action of longitudinal speed changed with state vector variation, and the stability of the path tracking closed-loop control system in the prediction horizon is analyzed in this paper. Then the longitudinal speed compensation strategy is proposed to reduce tracking error. The controller designed was tested through simulation on the CarSim-Simulink platform, and it showed improved performance in tracking accuracy and satisfied vehicle stability constrains.

【 授权许可】

Unknown