Design of a Path-Tracking Steering Controller for Autonomous Vehicles
This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC) scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-06-01
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| Series: | Energies |
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| Online Access: | http://www.mdpi.com/1996-1073/11/6/1451 |
| _version_ | 1828351066104659968 |
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| author | Chuanyang Sun Xin Zhang Lihe Xi Ying Tian |
| author_facet | Chuanyang Sun Xin Zhang Lihe Xi Ying Tian |
| author_sort | Chuanyang Sun |
| collection | DOAJ |
| description | This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC) scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA), showing the improved performance of the present controller at high speeds. |
| first_indexed | 2024-04-14T01:34:11Z |
| format | Article |
| id | doaj.art-b55a7e9cd8b34c42a4eff40de04d678a |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-04-14T01:34:11Z |
| publishDate | 2018-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-b55a7e9cd8b34c42a4eff40de04d678a2022-12-22T02:20:03ZengMDPI AGEnergies1996-10732018-06-01116145110.3390/en11061451en11061451Design of a Path-Tracking Steering Controller for Autonomous VehiclesChuanyang Sun0Xin Zhang1Lihe Xi2Ying Tian3Beijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, ChinaBeijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, ChinaBeijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, ChinaBeijing Jiaotong University Yangtze River Delta Research Institute, Zhenjiang 212009, ChinaThis paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC) scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA), showing the improved performance of the present controller at high speeds.http://www.mdpi.com/1996-1073/11/6/1451autonomous vehiclesmodel linearizationpath trackingsteering controllermodel predictive control |
| spellingShingle | Chuanyang Sun Xin Zhang Lihe Xi Ying Tian Design of a Path-Tracking Steering Controller for Autonomous Vehicles Energies autonomous vehicles model linearization path tracking steering controller model predictive control |
| title | Design of a Path-Tracking Steering Controller for Autonomous Vehicles |
| title_full | Design of a Path-Tracking Steering Controller for Autonomous Vehicles |
| title_fullStr | Design of a Path-Tracking Steering Controller for Autonomous Vehicles |
| title_full_unstemmed | Design of a Path-Tracking Steering Controller for Autonomous Vehicles |
| title_short | Design of a Path-Tracking Steering Controller for Autonomous Vehicles |
| title_sort | design of a path tracking steering controller for autonomous vehicles |
| topic | autonomous vehicles model linearization path tracking steering controller model predictive control |
| url | http://www.mdpi.com/1996-1073/11/6/1451 |
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