MPC Tracking Controller Parameters Impacts in Roundabouts

被引：16

作者：

Cao, Hang ^{[1
]}

Zoldy, Mate ^{[1
]}

机构：

[1] Budapest Univ Technol & Econ, Dept Automot Technol, Stoczek J U 6, H-1111 Budapest, Hungary

来源：

MATHEMATICS | 2021年 / 9卷 / 12期

关键词：

MPC; roundabout; weight parameter; path tracking; MODEL-PREDICTIVE CONTROL; AUTONOMOUS VEHICLES;

D O I：

10.3390/math9121394

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

The work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of weight parameter and target speed on the performance of the tracking controller. Two sets of test cases are proposed to make the experimental comparison, see the relationship between the control parameters and road conditions (different curvature path), and also see how the weight parameters Q and R and sample time affect the tracking performance. Our work, MPC controller utilization in a roundabout, plays an essential role with the increasing autonomy of vehicles.

引用

页数：18

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