MPC-based Path Following Design for Automated Vehicles with Rear Wheel Steering

Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this s...

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Bibliographic Details
Published in2021 IEEE International Conference on Mechatronics (ICM) pp. 1 - 6
Main Authors Yu, Chuanyang, Zheng, Yanggu, Shyrokau, Barys, Ivanov, Valentin
Format Conference Proceeding
LanguageEnglish
Published IEEE 07.03.2021
Subjects
automated vehicle
Mechatronics
model predictive control
path following control
Prediction algorithms
Predictive control
rear wheel steering
Simulation
Tires
Vehicle dynamics
Wheels
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Summary:Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model predictive control (NMPC) on a passenger vehicle with active RWS for path following. The controller was compared to two other variations of NMPC where the rear steering angle is proportional to the front or fixed to zero. Simulation results suggested that the proposed controller outperforms the other two variations and the baseline controllers (Stanley and LQR) in terms of accuracy and responsiveness.
DOI:10.1109/ICM46511.2021.9385606