DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following
Abstract In this paper, the authors investigate the issue of constructing and incorporating an accurate vehicle dynamic model for model predictive control (MPC) with an application to autonomous vehicle path following. To achieve the desired performance, MPC employs a precise dynamic model. However,...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-10-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12391 |
| _version_ | 1797659508235829248 |
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| author | Xuekai Yu Hai Wang Chenglong Teng Xiaoqing Sun Long Chen Yingfeng Cai |
| author_facet | Xuekai Yu Hai Wang Chenglong Teng Xiaoqing Sun Long Chen Yingfeng Cai |
| author_sort | Xuekai Yu |
| collection | DOAJ |
| description | Abstract In this paper, the authors investigate the issue of constructing and incorporating an accurate vehicle dynamic model for model predictive control (MPC) with an application to autonomous vehicle path following. To achieve the desired performance, MPC employs a precise dynamic model. However, the uncertainty of complex systems and their operating environments presents a challenge to the development of an adequately accurate vehicle dynamic model. This paper proposes a Deep Gaussian Process Regression (DGPR) method to improve model precision. Meanwhile, the learning model is incorporated into a novel MPC framework to enhance closed‐loop performance. High‐fidelity simulations using CarSim‐MATLAB demonstrate the validity of the proposed approach in terms of enhancing the path following performance and lateral stability under the condition of large curvature at medium to high speeds on roads with different friction coefficients when compared to the nominal MPC approach. |
| first_indexed | 2024-03-11T18:16:07Z |
| format | Article |
| id | doaj.art-5592cc16dc8b4533ba461e0031743be4 |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-03-11T18:16:07Z |
| publishDate | 2023-10-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-5592cc16dc8b4533ba461e0031743be42023-10-16T07:25:49ZengWileyIET Intelligent Transport Systems1751-956X1751-95782023-10-0117101992200310.1049/itr2.12391DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path followingXuekai Yu0Hai Wang1Chenglong Teng2Xiaoqing Sun3Long Chen4Yingfeng Cai5Automotive Engineering Research Institute of Jiangsu University Zhenjiang ChinaAutomotive Engineering Research Institute of Jiangsu University Zhenjiang ChinaAutomotive Engineering Research Institute of Jiangsu University Zhenjiang ChinaAutomotive Engineering Research Institute of Jiangsu University Zhenjiang ChinaAutomotive Engineering Research Institute of Jiangsu University Zhenjiang ChinaSchool of Automotive and Traffic Engineering of Jiangsu University ZhenjiangChinaAbstract In this paper, the authors investigate the issue of constructing and incorporating an accurate vehicle dynamic model for model predictive control (MPC) with an application to autonomous vehicle path following. To achieve the desired performance, MPC employs a precise dynamic model. However, the uncertainty of complex systems and their operating environments presents a challenge to the development of an adequately accurate vehicle dynamic model. This paper proposes a Deep Gaussian Process Regression (DGPR) method to improve model precision. Meanwhile, the learning model is incorporated into a novel MPC framework to enhance closed‐loop performance. High‐fidelity simulations using CarSim‐MATLAB demonstrate the validity of the proposed approach in terms of enhancing the path following performance and lateral stability under the condition of large curvature at medium to high speeds on roads with different friction coefficients when compared to the nominal MPC approach.https://doi.org/10.1049/itr2.12391autonomous drivingcontrol non‐linearities |
| spellingShingle | Xuekai Yu Hai Wang Chenglong Teng Xiaoqing Sun Long Chen Yingfeng Cai DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following IET Intelligent Transport Systems autonomous driving control non‐linearities |
| title | DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following |
| title_full | DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following |
| title_fullStr | DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following |
| title_full_unstemmed | DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following |
| title_short | DGPR‐MPC: Learning‐based model predictive controller for autonomous vehicle path following |
| title_sort | dgpr mpc learning based model predictive controller for autonomous vehicle path following |
| topic | autonomous driving control non‐linearities |
| url | https://doi.org/10.1049/itr2.12391 |
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