The DOI matches its Crossref record; 18 of the 18 references it cites were found in a registry or an index.
Path Tracking Control for Autonomous Vehicles Based on an Improved MPC
Open accessAbstract
In this paper, an improved Model Predictive Control (MPC) controller based on fuzzy adaptive weight control is proposed to solve the problem of autonomous vehicle in the process of path tracking. The controller not only ensures the tracking accuracy, but also considers the vehicle dynamic stability in the process of tracking, i.e., the vehicle dynamics model is used as the controller model. Moreover, the problem of driving comfort caused by the application of classical MPC controller when the vehicle is deviated from the target path is solved. This controller is mainly realized by adaptively improving the weight of the cost function in the classical MPC through the fuzzy adaptive control algorithm. A comparative study which compares the proposed controller with the pure-pursuit controller and the classical MPC controller is made: through the CarSim-Matlab/Simulink co-simulations, the results show that this controller presents better tracking performance than the latter ones considering both tracking accuracy and steering smoothness.
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Cites
A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles
Paden, B., Cap, M., Yong, S. Z., Yershov, D., & Frazzoli, E. (2016) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2016.2578706 · Cited by 2,585
A Review of Motion Planning Techniques for Automated Vehicles
Gonzalez, D., Perez, J., Milanes, V., & Nashashibi, F. (2016) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2015.2498841 · Cited by 1,670
Predictive Active Steering Control for Autonomous Vehicle Systems
Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E., & Hrovat, D. (2007) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2007.894653 · Cited by 1,408
Ji, J., Khajepour, A., Melek, W. W., & Huang, Y. (2017) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2016.2555853 · Cited by 1,039
Aguiar, A. P., & Hespanha, J. P. (2007) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2007.902731 · Cited by 959
An Open Approach to Autonomous Vehicles
Kato, S., Takeuchi, E., Ishiguro, Y., Ninomiya, Y., Takeda, K., & Hamada, T. (2015) · IEEE Micro · doi:10.1109/mm.2015.133 · Cited by 564
Model Predictive Control for Vehicle Stabilization at the Limits of Handling
Beal, C. E., & Gerdes, J. C. (2013) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2012.2200826 · Cited by 465
MPC-based approach to active steering for autonomous vehicle systems
Borrelli, F., Falcone, P., Keviczky, T., Asgari, J., & Hrovat, D. (2005) · International Journal of Vehicle Autonomous Systems · doi:10.1504/ijvas.2005.008237 · Cited by 428
Fuzzy Sampled-Data Control for Uncertain Vehicle Suspension Systems
Li, H., Jing, X., Lam, H., et al. (2013) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2013.2279534 · Cited by 424
Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver
Naranjo, J. E., Gonzalez, C., Garcia, R., & de Pedro, T. (2008) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2008.922880 · Cited by 412
Cited by
Control Strategies on Path Tracking for Autonomous Vehicle: State of the Art and Future Challenges
Yao, Q., Tian, Y., Wang, Q., & Wang, S. (2020) · IEEE Access · doi:10.1109/access.2020.3020075 · Cited by 211
Metadata
- Authors
- Wang, H., Liu, B., Ping, X., & An, Q.
- Venue
- IEEE Access
- Published
- 2019
- Volume
- 7
- Pages
- 161064-161073
- ISSN
- 2169-3536 (ISSN-L)
- OpenAlex
- W2978802601
- Cited by
- 264
- References
- 18
- FWCI
- 8.70
- Type
- journal article
- Language
- en
- Open access
- gold
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
