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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| 格式: | Article |
| 語言: | English |
| 出版: |
MDPI AG
2018-06-01
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| 叢編: | Energies |
| 主題: | |
| 在線閱讀: | http://www.mdpi.com/1996-1073/11/6/1451 |