This is an interim version of our Electronic Legal Deposit Catalogue-eJournals and eBooks while we continue to recover from a cyber-attack.
Integrated Path tracking control of steering and braking based on holistic MPC⁎The work is supported by the National Key Research and Development Program of China (Nos.2018YFC0604403, 2018YFE0192900, 2018YFC0810500 and 2019YFC0605300) and Guangdong Basic and Applied Basic Research Foundation (No.2019A1515111015). Issue 2 (2021)
Record Type:
Journal Article
Title:
Integrated Path tracking control of steering and braking based on holistic MPC⁎The work is supported by the National Key Research and Development Program of China (Nos.2018YFC0604403, 2018YFE0192900, 2018YFC0810500 and 2019YFC0605300) and Guangdong Basic and Applied Basic Research Foundation (No.2019A1515111015). Issue 2 (2021)
Main Title:
Integrated Path tracking control of steering and braking based on holistic MPC⁎The work is supported by the National Key Research and Development Program of China (Nos.2018YFC0604403, 2018YFE0192900, 2018YFC0810500 and 2019YFC0605300) and Guangdong Basic and Applied Basic Research Foundation (No.2019A1515111015).
Abstract: To improve the tracking performance of the autonomous vehicles during collision avoidance and solve the problems of mutual interference between steering and braking in layered controllers, a path tracking controller integrating steering and braking based on a holistic MPC framework is designed in this study. By linearizing the nonlinear vehicle and tire model, a linear time-varying MPC is designed to improve the real-time performance of the system. Test results based on the co-simulation environment of MATLAB and CarSim show that compared with the existing layered control methods, the holistic method has better path tracking performance, less interference between steering and braking, and less longitudinal motion influence.