Design and evaluation of path following controller based on MPC for autonomous vehicle
作者单位：Automotive Electronic Engineering CenterHarbin Institute of Technology Center of Automotive Research(CAR)Ohio State University
会议名称：《第36届中国控制会议》
会议日期：2017年
学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 0823[工学-交通运输工程]
基 金：supported by National Natural Science Foundation(NNSF) of China under Grant 61304135 and U1564207
关 键 词：Autonomous vehicle path following model predictive control hardware-in-the-loop simulation
摘 要：This paper proposes a model predictive control（MPC） for autonomous vehicle path following *** solve the control problem,a nonlinear path following model is used,which includes 2 degree-of-freedom single track vehicle dynamics model and path following error *** control problem is to control vehicle to run on the reference path with the heading angle along the road orientation ***,a controller based on MPC method is designed,and a C-based algorithm is implemented to solve the nonlinear optimization problem in *** proposed control system is tested in a hardware-in-theloop simulation platform and the robustness is tested by adding noise to lateral vehicle speed and modifying model *** is testified that the control performance is satisfied in different situations.