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Model Predictive Controller Approach for Automated Vehicle's Path Tracking.

Ádám Domina1, Viktor Tihanyi1

  • 1Department of Automotive Technologies, Budapest University of Technology and Economics, 1111 Budapest, Hungary.

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|August 12, 2023
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Summary
This summary is machine-generated.

This study presents a model predictive control (MPC) for automated vehicle steering, enhancing path tracking accuracy. Including steering dynamics in the model significantly improved controller performance in simulations and real-world tests.

Keywords:
LPV controlautomated vehiclesmodel predictive controlpath trackingsteering dynamicsvehicle modeling

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Area of Science:

  • Automotive Engineering
  • Control Systems
  • Robotics

Background:

  • Automated vehicle steering requires precise path tracking for safety and efficiency.
  • Existing control methods often simplify vehicle dynamics, potentially limiting performance.
  • Model Predictive Control (MPC) offers a promising framework for complex trajectory following.

Purpose of the Study:

  • To develop and evaluate a Model Predictive Control (MPC) strategy for automated vehicle steering path tracking.
  • To investigate the impact of different steering dynamics models (first-order vs. second-order lag) on control performance.
  • To introduce a novel method for reference trajectory generation in the vehicle's ego coordinate system.

Main Methods:

  • A Linear Parameter-Varying (LPV) vehicle plant model incorporating steering dynamics was developed.
  • A cascade MPC structure was implemented, separating steering dynamics into a second MPC.
  • The proposed MPC approach and reference trajectory generation were validated through simulations and on a test vehicle.

Main Results:

  • The first-order steering model demonstrated slightly more accurate path-following than the second-order model.
  • Including steering dynamics in the prediction model significantly enhanced controller performance.
  • Both simulation and experimental results confirmed the effectiveness of the novel reference definition method.

Conclusions:

  • The proposed MPC approach effectively controls automated vehicle steering for accurate path tracking.
  • The inclusion of detailed steering dynamics models is crucial for achieving high controller performance.
  • The novel reference trajectory generation method proved effective in practical applications.