Path Following Predictive Control for Autonomous Vehicles Subject to Uncertain Tire-ground Adhesion and Varied Road Curvature

• Published in: International journal of control, automation, and systems Vol. 17; no. 1; pp. 193 - 202
• Main Authors: Yang, Lu, Yue, Ming, Ma, Teng
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.01.2019; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Active control; Actuation; Adhesion; Automation; Autonomous vehicles; Computer simulation; Control; Control methods; Control systems design; Controllers; Curvature; Efficiency; Engineering; Mathematical models; Mechatronics; Methods; Predictive control; Regular Papers; Robotics; Rolling motion; Steering; Strategy; Trajectory planning; Vehicle wheels; Wheels; Yawing moments; 제어계측공학; model predictive control; path following; uncertain road information; Autonomous ground vehicle

This paper presents an integrated active steering control (ASC) and direct yaw control (DYC) strategy for improving path following performance of the vehicle subject to the uncertain tire-ground adhesion and road curvature conditions. To begin with, a model predictive control (MPC)-based path follow...