Curve Trajectory Tracking for Autonomous Vehicles Using Linear Time-Varying MPC

Shuping Chen, Huiyan Chen, Zhiguo Zhao*

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Most researches concerning the yaw stability and rollover prevention for autonomous vehicles are studied separately and decoupled the longitudinal and lateral vehicle dynamics control. However, the roll motion influences the yaw stability during high speed curve steering manoeuvres. With this in mind, a curve trajectory stable tracking controller for autonomous vehicles using linear time-varying model predictive control (LTV MPC) is proposed in this paper. The lateral dynamics control employs the LTV MPC to generate a sequence of optimal steering angles considering the constraints of control input, state output, yaw stability and roll stability together in the cost function, in which the prediction model utilizes an 8 degrees of freedom (DOF) vehicle model and the plant utilizes a 14-DOF vehicle model. The longitudinal control adopts PID control embedded in the MPC framework to update the speed at each optimization step and generate the total wheel torque for speed tracking. The trajectory tracking simulation results demonstrate that the vehicle tracks the reference trajectory and speed well with the proposed controller, which satisfies the constraints of control input, state output as well as the boundaries of yaw stability envelope, sideslip angle and roll angle, thereby reducing the risk of vehicle skid and rollover.

源语言英语
主期刊名Proceedings of China SAE Congress 2023
主期刊副标题Selected Papers
出版商Springer Science and Business Media Deutschland GmbH
113-130
页数18
ISBN(印刷版)9789819702510
DOI
出版状态已出版 - 2024
活动Society of Automotive Engineers - China Congress, SAE-China 2023 - Shanghai, 中国
期限: 25 10月 202327 10月 2023

出版系列

姓名Lecture Notes in Electrical Engineering
1151 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议Society of Automotive Engineers - China Congress, SAE-China 2023
国家/地区中国
Shanghai
时期25/10/2327/10/23

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引用此

Chen, S., Chen, H., & Zhao, Z. (2024). Curve Trajectory Tracking for Autonomous Vehicles Using Linear Time-Varying MPC. 在 Proceedings of China SAE Congress 2023: Selected Papers (页码 113-130). (Lecture Notes in Electrical Engineering; 卷 1151 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-0252-7_8