Hierarchical control strategy of trajectory tracking for intelligent vehicle
- 96 Downloads
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 wordstrajectory tracking control model predictive control (MPC) linear parameter varying (LPV) gainscheduling control
CLC numberTP 273
Unable to display preview. Download preview PDF.
- GUO L, HUANG X H, GE P S, et al. Lane changing trajectory tracking control for intelligent vehicle on curved road based on backstepping [J]. Journal of Jilin University: Engineering and Technology Edition, 2013, 43(2): 323–328 (in Chinese).Google Scholar
- YOU F, WANG R B, ZHANG R H, et al. Lane changing and overtaking control method for intelligent vehicle based on backstepping algorithm [J]. Transactions of the Chinese Society for Agricultural Machinery, 2008, 39(6): 42–45 (in Chinese).Google Scholar
- YAKUB F, MORI Y. Autonomous ground vehicle of path following control through model predictive control with feed forward controller [C]//Proceedings of the 12th International Symposium on Advanced Vehicle Control. Tokyo, Japan: Society of Automotive Engineers of Japan, 2014: 603–610.Google Scholar
- SHIM T, ADIREDDY G, YUAN H L. Autonomous vehicle collision avoidance system using path planning and model-predictive-control-based active front steering and wheel torque control [J]. Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering, 2012, 226(6): 767–778.Google Scholar
- ATTIA R, ORJUELA R, BASSET M. Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle [C]//Proceedings of the American Control Conference. Montréal, Canada: IEEE, 2012: 6509–6514.Google Scholar
- CHEN H. Model predictive control [M]. Beijing, China: Science Press, 2013 (in Chinese).Google Scholar
- YU Z S. Automobile theory [M]. 5th ed. Beijing, China: China Machine Press, 2009 (in Chinese).Google Scholar
- DUAN G R. Linear matrix inequalities in control systems [M]. Boca Raton, USA: CRC Press Taylor & Francis Group, 2013.Google Scholar
- YU Z P, JIANG W, ZHANG L J. Torque distribution control for four wheel in-wheel-motor electric vehicle [J]. Journal of Tongji University (Natural Science), 2008, 36(8): 1115–1119 (in Chinese).Google Scholar
- ALMEIDA S, ARAúJO R E. Fault-tolerant control using sliding mode techniques applied to multi-motor electric vehicle [C]//Proceedings of IECON. Vienna, Austria: IEEE, 2013: 3530–3535.Google Scholar