TY - GEN
T1 - Lateral Path Tracking Control Based on Tube MPC
AU - Ren, Hongbin
AU - Li, Yan
AU - Wang, Lifen
AU - Yang, Lin
N1 - Publisher Copyright:
© 2024 ACM.
PY - 2024/5/17
Y1 - 2024/5/17
N2 - To solve the problem of external disturbances encountered in the lateral path tracking control process of autonomous vehicles, this paper proposes a TMPC algorithm based on the nonlinear vehicle dynamics model. The core of this method lies in tightening the constraint boundaries and increasing errors feedback compensation to ensure lateral tracking performance and driving stability. Additionally, the algorithm's real-time performance is further improved by using zonotopes instead of polytopes. Finally, the effectiveness of the method is verified through simulation experiments. The results demonstrate that compared to traditional MPC, TMPC reduces the maximum value and mean square value of lateral tracking errors by 80.1% and 86.6%, respectively. It also reduces the maximum value and mean square value of heading tracking errors by 37.2% and 33.8%, respectively.
AB - To solve the problem of external disturbances encountered in the lateral path tracking control process of autonomous vehicles, this paper proposes a TMPC algorithm based on the nonlinear vehicle dynamics model. The core of this method lies in tightening the constraint boundaries and increasing errors feedback compensation to ensure lateral tracking performance and driving stability. Additionally, the algorithm's real-time performance is further improved by using zonotopes instead of polytopes. Finally, the effectiveness of the method is verified through simulation experiments. The results demonstrate that compared to traditional MPC, TMPC reduces the maximum value and mean square value of lateral tracking errors by 80.1% and 86.6%, respectively. It also reduces the maximum value and mean square value of heading tracking errors by 37.2% and 33.8%, respectively.
KW - External disturbances
KW - Intelligent vehicles
KW - Lateral path tracking
KW - Tube MPC
UR - http://www.scopus.com/inward/record.url?scp=85203128372&partnerID=8YFLogxK
U2 - 10.1145/3669721.3669730
DO - 10.1145/3669721.3669730
M3 - Conference contribution
AN - SCOPUS:85203128372
T3 - ACM International Conference Proceeding Series
SP - 130
EP - 135
BT - Proceedings of 2024 3rd International Symposium on Intelligent Unmanned Systems and Artificial Intelligence, SIUSAI 2024
A2 - Su, Chun-Yi
A2 - Zhang, Jie
PB - Association for Computing Machinery
T2 - Proceedings of 2024 3rd International Symposium on Intelligent Unmanned Systems and Artificial Intelligence, SIUSAI 2024
Y2 - 17 May 2024 through 19 May 2024
ER -