This content is not included in your SAE MOBILUS subscription, or you are not logged in.

Adaptive Path Tracking Controller for Intelligent Driving Vehicles for Large Curvature Paths

Journal Article
12-06-02-0013
ISSN: 2574-0741, e-ISSN: 2574-075X
Published December 02, 2022 by SAE International in United States
Adaptive Path Tracking Controller for Intelligent Driving Vehicles
                    for Large Curvature Paths
Sector:
Citation: Liu, J. and Yang, C., "Adaptive Path Tracking Controller for Intelligent Driving Vehicles for Large Curvature Paths," SAE Intl. J CAV 6(2):199-219, 2023, https://doi.org/10.4271/12-06-02-0013.
Language: English

References

  1. Xiong , L. , Yang , X. , Zhuo , G. et al. Review on Motion Control of Autonomous Vehicles Journal of Mechanical Engineering 56 10 2020 127 143 10.3901/JME. 2020.10.127
  2. Kayacan , E. Ramon , H. , and Saeys , W. Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles IEEE/ASME Transactions on Mechatronics 21 2 2016 806 814 10.1109/TMECH. 2015.2492984
  3. Guo , J. , Hu , P. , Li , L. et al. Design of Automatic Steering Controller for Trajectory Tracking of Unmanned Vehicles Using Genetic Algorithms IEEE Transactions on Vehicular Technology 61 7 2012 2913 2924 10.1109/TVT.2012.2201513
  4. Zhang , Y. , Zheng , Y. , and Bao , H. Autonomous Vehicle Tracking Algorithm for High Curvature Path in Full Speed Range Journal of Image and Graphics 26 1 2021 0135 0142 10.11834/jig.200435
  5. Li , Y. , Fan , J. , Liu , Y. et al. Path Planning and Path Tracking Control for Autonomous Vehicle Based on MPC with Adaptive Dual-Horizon-Parameters Automotive Safety and Energy 12 4 2021 528 539 10.3969/j.issn.1674-8484.2021.04.012
  6. Norouzi , A. , Masoumi , M. , Barari , A. et al. Lateral Control of an Autonomous Vehicle Using Integrated Backstepping and Sliding Mode Controller Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 233 1 2019 141 151 10.1177/1464419318797051
  7. Di Cairano , S. , Tseng , H.E. , Bernardini , D. et al. Steering Vehicle Control by Switched Model Predictive Control IFAC Proceedings 43 7 2010 1 6 10.3182/20100712-3-DE-2013.00046
  8. Brown , M. , Funke , J. , Erlien , S. et al. Safe Driving Envelopes for Path Tracking in Autonomous Vehicles Control Engineering Practice 61 2017 307 316 10.1016/j.conengprac.2016.04.013
  9. Choi , M. and Choi , S.B. MPC for Vehicle Lateral Stability via Differential Braking and Active Front Steering Considering Practical Aspects Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 230 4 2016 459 469 10.1177/0954407015586895
  10. Gutjahr , B. , Gröll , L. , and Werling , M. Lateral Vehicle Trajectory Optimization Using Constrained Linear Time-Varying MPC IEEE Transactions on Intelligent Transportation Systems 18 6 2016 1586 1595 10.1109/TITS.2016.2614705
  11. Li , L. , Lu , Y. , Wang , R. et al. A Three-Dimensional Dynamics Control Framework of Vehicle Lateral Stability and Rollover Prevention via Active Braking with MPC IEEE Transactions on Industrial Electronics 64 6 2017 3389 3401 10.1109/TIE.2016.2583400
  12. Sun , X. , Cai , Y. , Wang , S. et al. Optimal Control of Intelligent Vehicle Longitudinal Dynamics via Hybrid Model Predictive Control Robotics and Autonomous Systems 112 2019 190 200 10.1016/j.robot.2018.11.020
  13. Oyelere , S. The Application of Model Predictive Control (MPC) to Fast Systems such as Autonomous Ground Vehicles (AGV) IOSR Journal of Computer Engineering 3 3 2014 27 37 10.9790/0661-16342737
  14. Chen , H. , Ling , D. , and Li , S.M. Steering Control on Large Curvature Road Based on Preview Optimal Curvature Model China Mechanical Engineering 23 7 2012 2111 2116 10.3969/j.issn.1004-132X.2012.17.020
  15. Hasegawa , K. and Konaka , E. Three Look-Ahead Distance Scheme for Lateral Control of Vision-Based Vehicles 2014 Proceedings of the SICE Annual Conference (SICE) Sapporo 2014
  16. Zhang , Y. and Zhu , L. A Lateral and Longitudinal Fuzzy Control of Intelligent Vehicles with Double Preview Points for Large Curvature Roads China Mechanical Engineering 30 12 2019 1445 1452 10.3969/j.issn.1004-132X.2019.12.010
  17. Yu , Z.S. Automobile Theory Beijing China Machine Press 2009 143 145 9787111602392
  18. Bachtiar , V. , Kerrigan , E.C. , Moase , W.H. et al. Continuity and Monotonicity of the MPC Value Function with Respect to Sampling Time and Prediction Horizon Automatica 63 2016 330 337 10.1016/j.automatica.2015.10.042
  19. Wei , L. , Wang , X. , Qiu , B. et al. Tracking and Collision Avoidance of Autonomous Vehicle Based on Adaptive Preview Path Journal of Mechanical Engineering 58 6 2022 184 193 10.3901/JME.2022.06.184
  20. Chen , W. , Wang , J. , Wang , M. et al. Adaptive Preview Control of Vision Guided Intelligent Vehicle Lateral Movement China Mechanical Engineering 25 05 2014 698 704 10.3969/j.issn.1004-132X.2014.05.023
  21. Nguyen , A.T. , Taniguchi , T. , Eciolaza , L. et al. Fuzzy Control Systems: Past, Present and Future IEEE Computational Intelligence Magazine 14 1 2019 56 68 10.1109/MCI.2018.2881644
  22. Visioli , A. Tuning of PID Controllers with Fuzzy Logic IEE Proceedings-Control Theory and Applications 148 1 2001 1 8 10.1049/ip-cta:20010232

Cited By