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  • 标题:Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect
  • 本地全文:下载
  • 作者:Fitri Yakub ; Aminudin Abu ; Shamsul Sarip
  • 期刊名称:Journal of Control Science and Engineering
  • 印刷版ISSN:1687-5249
  • 电子版ISSN:1687-5257
  • 出版年度:2016
  • 卷号:2016
  • DOI:10.1155/2016/6752671
  • 出版社:Hindawi Publishing Corporation
  • 摘要:We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.
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