Hierarchical control strategy of trajectory tracking for intelligent vehicle

  • Qian Zhang (张 茜)
  • Zhiyuan Liu (刘志远)


In order to track the desired trajectory for intelligent vehicle, a new hierarchical control strategy is presented. The control structure consists of two layers. The high-level controller adopts the model predictive control (MPC) to calculate the steering angle tracking the desired yaw angle and the lateral position. The low-level controller is designed as a gain-scheduling controller based on linear matrix inequalities. The desired longitudinal velocity and the yaw rate are tracked by the adjustment of each wheel torque. The simulation results via the high-fidelity vehicle dynamics simulation software veDYNA show that the proposed strategy has a good tracking performance and can guarantee the yaw stability of intelligent vehicle.

Key words

trajectory tracking control model predictive control (MPC) linear parameter varying (LPV) gainscheduling control 

CLC number

TP 273 

Document code


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Copyright information

© Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1.Department of Control Science and EngineeringHarbin Institute of TechnologyHarbinChina

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