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Research on vehicle Path Tracking Control based on MPC

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EITCE '22: Proceedings of the 2022 6th International Conference on Electronic Information Technology and Computer Engineering

Pages 449 - 453

https://doi.org/10.1145/3573428.3573506

Published: 15 March 2023 Publication History

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Abstract

Aiming at the problem of path tracking of unmanned vehicles, this paper built a vehicle kinematics model and carried out discretization, designed a vehicle lateral motion controller based on model predict control (MPC) to track the vehicle's path on the basis of the existing path, and carried out controller simulation through MATLAB. Simulation results show that the controller has a certain path tracking accuracy.

References

[1]

Guo H, Shen C, Zhang H, Simultaneous trajectory planning and tracking using an MPC method for cyber-physical systems: A case study of obstacle avoidance for an intelligent vehicle[J]. IEEE Transactions on Industrial Informatics, 2018, 14 (9): 4273-4283.

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[2]

Yu Z, Wang J. Automatic vehicle trajectory tracking control with self-calibration of nonlinear tire force function[C]//2017 American Control Conference (ACC). IEEE, 2017: 985-990.

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[3]

Rajesh Rajamani. Vehicle Dynamics and Control [M], China Machine Press, 2018.

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[4]

Gong Jianwei, Jiang Yan, Xu Wei. Predictive Control of Driverless Vehicle Model [M], Beijing: Beijing Institute of Technology Press, 2014.

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[5]

Wang Yuhan. Research on Trajectory Tracking Control Method of Autonomous Vehicle Based on Fast MPC [D]. Jilin University, 2021.

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Index Terms

Research on vehicle Path Tracking Control based on MPC
1. Software and its engineering
  1. Software creation and management
    1. Software development process management
      1. Software development methods
        Agile software development

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EITCE '22: Proceedings of the 2022 6th International Conference on Electronic Information Technology and Computer Engineering

October 2022

1999 pages

ISBN:9781450397148

DOI:10.1145/3573428

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

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Published: 15 March 2023

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EITCE 2022

EITCE 2022: 2022 6th International Conference on Electronic Information Technology and Computer Engineering

October 21 - 23, 2022

Xiamen, China

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Abstract

References

Index Terms

Recommendations

Development of a robotic driver for autonomous vehicle following

Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors

A predictive controller for autonomous vehicle path tracking

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