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A practical trajectory tracking control of autonomous vehicles using linear time-varying MPC method
- Source :
- Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 236:709-723
- Publication Year :
- 2021
- Publisher :
- SAGE Publications, 2021.
-
Abstract
- With the rapid development and implementation of autonomous vehicles (AVs), the simultaneous and accurate trajectory tracking problem for such AVs has become a popular research topic. This paper proposes a comprehensive linear time-varying model predictive controller (LTV-MPC) design for a type of AV, aiming to achieve good trajectory tracking in a practical driving scenario. First, a two-degree-of-freedom kinematic model of an AV is established. Next, an error model of the AV’s trajectory tracking system is constructed using linear time-varying theory. A successive linearization is introduced to linearize the nonlinear tracking error model, and a quadratic programming optimization problem is then formulated. Thus, the control sequence for this AV is incorporated into the predictive control framework, and the desired controller can be solved with a relatively higher computational efficiency and lower computational cost. Finally, the effectiveness and performance of the proposed controller are validated via a comparison of simulations conducted using MATLAB software and experiments conducted using a self-established test platform. The results demonstrate that the proposed LTV-MPC method can track the prescribed reference road trajectories with high precision and stability for an AV under various driving conditions.
- Subjects :
- 050210 logistics & transportation
0209 industrial biotechnology
Computer science
Mechanical Engineering
05 social sciences
Control (management)
Aerospace Engineering
02 engineering and technology
Tracking (particle physics)
020901 industrial engineering & automation
Control theory
0502 economics and business
Trajectory
Time complexity
Subjects
Details
- ISSN :
- 20412991 and 09544070
- Volume :
- 236
- Database :
- OpenAIRE
- Journal :
- Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
- Accession number :
- edsair.doi...........f78de5782fbb477c527bf88ccbf7fbd3