Tube-MPC Based Path Tracking for I Vehicle Considering Data-Driven Stable Region and External Disturbances

2025-01-8262

04/01/2025

Features
Event
WCX SAE World Congress Experience
Authors Abstract
Content
Path tracking is a key function of intelligent vehicles, which is the basis for the development and realization of advanced autonomous driving. However, the imprecision of the control model and external disturbances such as wind and sudden road conditions will affect the path tracking effect and even lead to accidents. This paper proposes an intelligent vehicle path tracking strategy based on Tube-MPC and data-driven stable region to enhance vehicle stability and path tracking performance in the presence of external interference. Using BP-NN combined with the state-of-the-art energy valley optimization algorithm, the five eigenvalues of the stable region of the vehicle β−β̇ phase plane are obtained, which are used as constraints for the Tube-MPC controller and converted into quadratic forms for easy calculation. In the calculation of Tube invariant sets, reachable sets are used instead of robust positive invariant sets to reduce the calculation. Simulation results demonstrates that the strategy is with superior performance than conventional MPC without considering stability under the condition with different road adhesion coefficients and lateral winds.
Meta TagsDetails
DOI
https://doi.org/10.4271/2025-01-8262
Pages
14
Citation
Zhang, H., Li, Y., and Wu, G., "Tube-MPC Based Path Tracking for I Vehicle Considering Data-Driven Stable Region and External Disturbances," SAE Technical Paper 2025-01-8262, 2025, https://doi.org/10.4271/2025-01-8262.
Additional Details
Publisher
Published
Apr 01
Product Code
2025-01-8262
Content Type
Technical Paper
Language
English