An Improved Model Predictive Control Method for Vehicle Lateral Control

被引：0

作者：

Li, Yunao ^{[1
]}

Chai, Senchun ^{[1
]}

Chai, Ruiqi ^{[2
]}

Liu, Xiaopeng ^{[3
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Cranfield Univ, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England

[3] China Acad Space Technol, Inst Telecommun Satellite, Beijing 100081, Peoples R China

来源：

PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年

关键词：

Autonomous vehicle; Lateral dynamics; Model predictive control; Steady state response; Stability;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：5505 / 5510

页数：6

共 19 条

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