MPC Tracking Controller Parameters Impacts in Roundabouts
The work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-06-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/9/12/1394 |
| _version_ | 1797530014852317184 |
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| author | Hang Cao Mate Zoldy |
| author_facet | Hang Cao Mate Zoldy |
| author_sort | Hang Cao |
| collection | DOAJ |
| description | The work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of weight parameter and target speed on the performance of the tracking controller. Two sets of test cases are proposed to make the experimental comparison, see the relationship between the control parameters and road conditions (different curvature path), and also see how the weight parameters Q and R and sample time affect the tracking performance. Our work, MPC controller utilization in a roundabout, plays an essential role with the increasing autonomy of vehicles. |
| first_indexed | 2024-03-10T10:22:52Z |
| format | Article |
| id | doaj.art-d878760b62e54fe591c07d37f611739b |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T10:22:52Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-d878760b62e54fe591c07d37f611739b2023-11-22T00:18:15ZengMDPI AGMathematics2227-73902021-06-01912139410.3390/math9121394MPC Tracking Controller Parameters Impacts in RoundaboutsHang Cao0Mate Zoldy1Department of Automotive Technologies, Budapest University of Technology and Economics, 1111 Budapest, Stoczek J. u. 6., HungaryDepartment of Automotive Technologies, Budapest University of Technology and Economics, 1111 Budapest, Stoczek J. u. 6., HungaryThe work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of weight parameter and target speed on the performance of the tracking controller. Two sets of test cases are proposed to make the experimental comparison, see the relationship between the control parameters and road conditions (different curvature path), and also see how the weight parameters Q and R and sample time affect the tracking performance. Our work, MPC controller utilization in a roundabout, plays an essential role with the increasing autonomy of vehicles.https://www.mdpi.com/2227-7390/9/12/1394MPCroundaboutweight parameterpath tracking |
| spellingShingle | Hang Cao Mate Zoldy MPC Tracking Controller Parameters Impacts in Roundabouts Mathematics MPC roundabout weight parameter path tracking |
| title | MPC Tracking Controller Parameters Impacts in Roundabouts |
| title_full | MPC Tracking Controller Parameters Impacts in Roundabouts |
| title_fullStr | MPC Tracking Controller Parameters Impacts in Roundabouts |
| title_full_unstemmed | MPC Tracking Controller Parameters Impacts in Roundabouts |
| title_short | MPC Tracking Controller Parameters Impacts in Roundabouts |
| title_sort | mpc tracking controller parameters impacts in roundabouts |
| topic | MPC roundabout weight parameter path tracking |
| url | https://www.mdpi.com/2227-7390/9/12/1394 |
| work_keys_str_mv | AT hangcao mpctrackingcontrollerparametersimpactsinroundabouts AT matezoldy mpctrackingcontrollerparametersimpactsinroundabouts |