Abstract
The route of buses is relatively fixed compared with private vehicles. This characteristic provides a suitable scenario for path following control. The purpose of path following control is to control the steering system of the vehicle to track the desired trajectory curve while satisfying performance such as safety and energy consumption. Model predictive control (MPC) method is used in this paper for vehicle lateral control. Preview is used to reduce the track error. The vehicle kinematic model is established as predictive model. The path following problem is described as a quadratic programming (QP) problem that can be solved in real-time situations. Simulations on Matlab/Simulink & TruckMaker are conducted, and real vehicle tests are completed. Results show that the proposed lateral control strategy can achieve the tracking error within 15 cm in different velocities and scenarios in the simulation.
| Original language | English |
|---|---|
| Journal | Energy Proceedings |
| Volume | 9 |
| DOIs | |
| Publication status | Published - 2020 |
| Event | 12th International Conference on Applied Energy, ICAE 2020 - Bangkok, Thailand Duration: 1 Dec 2020 → 10 Dec 2020 |
Keywords
- Model predictive control
- electric bus
- path following
- quadratic programming
- vehicle lateral control
