An Adaptive Model Predictive Control Strategy for Path Following of Autonomous Vehicles Based on Tire Cornering Stiffness Estimation

被引：2

作者：

Zhang, Yuhang ^{[1
,2
]}

Wang, Weida ^{[1
,2
]}

Yang, Chao ^{[1
]}

Ma, Mingyue ^{[3
]}

机构：

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

[2] Beijing Inst Technol, Chongqing Innovat Ctr, Chongqing 401120, Peoples R China

[3] Minist Publ Secur Peoples Republ China, Rd Traff Safety Res Ctr, Beijing 100062, Peoples R China

来源：

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年

基金：

中国国家自然科学基金;

关键词：

Autonomous Vehicles; Path Following; Adaptive Control; Recursive Least Square; Model Predictive Control; DISTURBANCE; TRACKING;

D O I：

10.1109/CCDC52312.2021.9601550

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Path following performance is a crucial issue for autonomous vehicles. Due to the influence of parameter uncertainties, inevitable deviation occurs during path following process. To solve this problem, an adaptive model predictive control strategy based on tire cornering stiffness estimation is proposed for path following. Firstly, the recursive-least-square (RLS) method is applied to estimate the uncertainty of tire cornering stiffness in real time. Secondly, based on the real-time update system model, a model predictive control (MPC) scheme is proposed to achieve path following. In this way, the proposed strategy can adapt to the changes of driving conditions. Finally, lane change maneuver is performed in simulation to verify the effectiveness of the proposed strategy. The results show that the lateral offset using the proposed strategy is reduced by 10% compared with the traditional MPC.

引用

页码：1904 / 1909

页数：6

共 50 条

[41] Design and experiential test of a model predictive path following control with adaptive preview for autonomous buses
He, Hongwen
Shi, Man
Li, Jianwei
Cao, Jianfei
Han, Mo
Li, Jianwei (jianwei.li@bath.edu), 1600, Academic Press (157):
[42] Tire Cornering Model Based on Attenuation Curve of Side Slip Stiffness
Lu, Dang
2010 THE 3RD INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE AND INDUSTRIAL APPLICATION (PACIIA2010), VOL VI, 2010, : 9 - 12
[43] Path Following Control of Autonomous Vehicles Based on Hamilton Theory
Chen T.
Chen L.
Xu X.
Cai Y.-F.
Jiang H.-B.
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 2019, 39 (07): : 676 - 682
[44] Tire Cornering Model Based on Attenuation Curve of Side Slip Stiffness
Lu, Dang
2011 INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION AND INDUSTRIAL APPLICATION (ICIA2011), VOL I, 2011, : 9 - 12
[45] Cooperative path following of constrained autonomous vehicles with model predictive control and event-triggered communications
Hung, Nguyen T.
Pascoal, Antonio M.
Johansen, Tor A.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2020, 30 (07) : 2644 - 2670
[46] Barrier-Certified Model Predictive Cooperative Path Following Control of Connected Autonomous Surface Vehicles
Lv, Guanghao
Peng, Zhouhua
Li, Yongming
Liu, Lu
Wang, Dan
IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING, 2023, 10 (06): : 3354 - 3367
[47] A Vehicle Lateral Motion Control Based on Tire Cornering Stiffness Estimation Using In-Wheel Motors
Park, Giseo
ELECTRONICS, 2022, 11 (16)
[48] Internal Model-Based Robust Path-Following Control for Autonomous Vehicles
Kovacs, Adorjan
Vajk, Istvan
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, 2024, 25 (02) : 249 - 260
[49] Internal Model-Based Robust Path-Following Control for Autonomous Vehicles
Adorján Kovács
István Vajk
International Journal of Automotive Technology, 2024, 25 : 249 - 260
[50] Adaptive Model Predictive Control-Based Path Following Control for Four-Wheel Independent Drive Automated Vehicles
Wang, Weida
Zhang, Yuhang
Yang, Chao
Qie, Tianqi
Ma, Mingyue
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2022, 23 (09) : 14399 - 14412

← 1 2 3 4 5 →