Research on lateral controller of unmanned vehicle based on model predictive control

Tianhao Qin; Shaojie Xin; Chao Zhang

doi:10.1117/12.2645567

23 November 2022 Research on lateral controller of unmanned vehicle based on model predictive control

Tianhao Qin, Shaojie Xin, Chao Zhang

Proceedings Volume 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022); 1230218 (2022) https://doi.org/10.1117/12.2645567
Event: Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 2022, Guangzhou, China

Abstract

The lateral control of the driverless vehicle is based on the steering angle of the front wheel as the control variable to track the desired trajectory. In this paper, a two-degree-of-freedom vehicle dynamics model is established. In order to reduce the amount of calculation, the original model is simplified accordingly. Then, a lateral controller based on model predictive control is designed, and the objective function is constructed and solved after its condition constraint. Finally, the joint simulation analysis of path position tracking and heading angle is carried out based on Carsim and Matlab / Simulink software. The simulation results show that the lateral controller can track the trajectory effectively.

Citation Download Citation

Tianhao Qin, Shaojie Xin, and Chao Zhang "Research on lateral controller of unmanned vehicle based on model predictive control", Proc. SPIE 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 1230218 (23 November 2022); https://doi.org/10.1117/12.2645567

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