Abstract
This paper presents a lateral dynamic model based on control algorithm for the path tracking of autonomous vehicle. To improve the stability of the vehicle for high speed cases, an improved model predictive control (MPC) controller has been proposed in this paper. By combining the steady state response and MPC, the lateral motion of the autonomous vehicle can be controlled smoothly and the accuracy of path tracking can be guaranteed at a high speed. A number of simulation results obtained by using MATLAB are provided to validate this methodology.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 39th Chinese Control Conference, CCC 2020 |
| Editors | Jun Fu, Jian Sun |
| Publisher | IEEE Computer Society |
| Pages | 5505-5510 |
| Number of pages | 6 |
| ISBN (Electronic) | 9789881563903 |
| DOIs | |
| Publication status | Published - Jul 2020 |
| Event | 39th Chinese Control Conference, CCC 2020 - Shenyang, China Duration: 27 Jul 2020 → 29 Jul 2020 |
Publication series
| Name | Chinese Control Conference, CCC |
|---|---|
| Volume | 2020-July |
| ISSN (Print) | 1934-1768 |
| ISSN (Electronic) | 2161-2927 |
Conference
| Conference | 39th Chinese Control Conference, CCC 2020 |
|---|---|
| Country/Territory | China |
| City | Shenyang |
| Period | 27/07/20 → 29/07/20 |
Keywords
- Autonomous vehicle
- Lateral dynamics
- Model predictive control
- Stability
- Steady state response
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Li, Y., Chai, S., Chai, R., & Liu, X. (2020). An Improved Model Predictive Control Method for Vehicle Lateral Control. In J. Fu, & J. Sun (Eds.), Proceedings of the 39th Chinese Control Conference, CCC 2020 (pp. 5505-5510). Article 9188611 (Chinese Control Conference, CCC; Vol. 2020-July). IEEE Computer Society. https://doi.org/10.23919/CCC50068.2020.9188611