A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control
Trajectory tracking is a key technology for precisely controlling autonomous vehicles. In this paper, we propose a trajectory-tracking method based on model predictive control. Instead of using the forward Euler integration method, the backward Euler integration method is used to establish the predi...
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MDPI AG
2021
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oai:doaj.org-article:ba831a6f469f4a73a3b50bbbb0d8e27b2021-11-11T19:09:24ZA New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control10.3390/s212171651424-8220https://doaj.org/article/ba831a6f469f4a73a3b50bbbb0d8e27b2021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7165https://doaj.org/toc/1424-8220Trajectory tracking is a key technology for precisely controlling autonomous vehicles. In this paper, we propose a trajectory-tracking method based on model predictive control. Instead of using the forward Euler integration method, the backward Euler integration method is used to establish the predictive model. To meet the real-time requirement, a constraint is imposed on the control law and the warm-start technique is employed. The MPC-based controller is proved to be stable. The simulation results demonstrate that, at the cost of no or a little increase in computational time, the tracking performance of the controller is much better than that of controllers using the forward Euler method. The maximum lateral errors are reduced by 69.09%, 47.89% and 78.66%. The real-time performance of the MPC controller is good. The calculation time is below 0.0203 s, which is shorter than the control period.Zhejun HuangHuiyun LiWenfei LiJia LiuChao HuangZhiheng YangWenqi FangMDPI AGarticleautonomous drivingtrajectory trackingreal-time controlmodel predictive controlChemical technologyTP1-1185ENSensors, Vol 21, Iss 7165, p 7165 (2021) |
| institution |
DOAJ |
| collection |
DOAJ |
| language |
EN |
| topic |
autonomous driving trajectory tracking real-time control model predictive control Chemical technology TP1-1185 |
| spellingShingle |
autonomous driving trajectory tracking real-time control model predictive control Chemical technology TP1-1185 Zhejun Huang Huiyun Li Wenfei Li Jia Liu Chao Huang Zhiheng Yang Wenqi Fang A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control |
| description |
Trajectory tracking is a key technology for precisely controlling autonomous vehicles. In this paper, we propose a trajectory-tracking method based on model predictive control. Instead of using the forward Euler integration method, the backward Euler integration method is used to establish the predictive model. To meet the real-time requirement, a constraint is imposed on the control law and the warm-start technique is employed. The MPC-based controller is proved to be stable. The simulation results demonstrate that, at the cost of no or a little increase in computational time, the tracking performance of the controller is much better than that of controllers using the forward Euler method. The maximum lateral errors are reduced by 69.09%, 47.89% and 78.66%. The real-time performance of the MPC controller is good. The calculation time is below 0.0203 s, which is shorter than the control period. |
| format |
article |
| author |
Zhejun Huang Huiyun Li Wenfei Li Jia Liu Chao Huang Zhiheng Yang Wenqi Fang |
| author_facet |
Zhejun Huang Huiyun Li Wenfei Li Jia Liu Chao Huang Zhiheng Yang Wenqi Fang |
| author_sort |
Zhejun Huang |
| title |
A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control |
| title_short |
A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control |
| title_full |
A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control |
| title_fullStr |
A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control |
| title_full_unstemmed |
A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control |
| title_sort |
new trajectory tracking algorithm for autonomous vehicles based on model predictive control |
| publisher |
MDPI AG |
| publishDate |
2021 |
| url |
https://doaj.org/article/ba831a6f469f4a73a3b50bbbb0d8e27b |
| work_keys_str_mv |
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