An adaptive-prediction-horizon model prediction control for path tracking in a four-wheel independent control electric vehicle. (October 2019)

• Record Type: Journal Article
• Authors: Zhang, Bing; Zong, Changfu; Chen, Guoying; Li, Guiyuan
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 233:Number 12(2019:Dec.)
• Page Start: 3246
• Page End: 3262
• Publication Date: 2019-10
• Subjects: Adaptive prediction horizon -- model prediction control -- path tracking -- four-wheel independent control electric vehicle -- autonomous driving; Mechanical engineering -- Congresses; Transportation engineering -- Congresses; 629.2
• DOI: 10.1177/0954407018821527
• Languages: English
• ISSNs: 0954-4070

Abstract

An adaptive-prediction-horizon model prediction control-based path tracking controller for a four-wheel independent control electric vehicle is designed. Unlike traditional model prediction control with fixed prediction horizon, this paper devotes to satisfy the varied path tracking demand by adjusting online the prediction horizon of model prediction control according to its effect on vehicle dynamic characteristics. Vehicle dynamic stability quantized with the vehicle sideslip-feature phase plane is preferentially considered in the prediction horizon adjustment. For stability during switching prediction horizon and for robustness during path tracking, the numerical problem inherent in the adaptive-prediction-horizon model prediction control is analysed and solved by introducing exponentially decreasing weight. Subsequently, the desired motion for path tracking with the four-wheel independent control electric vehicle is realized with a hierarchical control structure. Simulation results finally illustrate the effectiveness of the proposed method.