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An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle

Studies on self-driving vehicles have become a trend in recent years, and many systems have been developed to enable autonomous manoeuvre. Various methods have been used to improve path-tracking algorithms which increase vehicle performance, including tracking accuracy and stability. Path tracking i...

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Main Authors: H., Che Shamsudin, Muhammad Izhar, Ishak, Mohamad Heerwan, Peeie, Muhammad Aizzat, Zakaria
Format: Article
Language:English
Published: Universiti Malaysia Pahang 2024
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/42897/1/An%20Investigation%20of%20Classical%20Model%20Predictive%20Controller%20Path%20Tracking%20Performance.pdf
http://umpir.ump.edu.my/id/eprint/42897/
https://doi.org/10.15282/ijame.21.3.2024.20.0903
https://doi.org/10.15282/ijame.21.3.2024.20.0903
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spelling my.ump.umpir.428972024-11-08T07:32:02Z http://umpir.ump.edu.my/id/eprint/42897/ An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle H., Che Shamsudin Muhammad Izhar, Ishak Mohamad Heerwan, Peeie Muhammad Aizzat, Zakaria TJ Mechanical engineering and machinery Studies on self-driving vehicles have become a trend in recent years, and many systems have been developed to enable autonomous manoeuvre. Various methods have been used to improve path-tracking algorithms which increase vehicle performance, including tracking accuracy and stability. Path tracking is one of the primary problems for autonomous vehicles where the vehicle deviates from target paths, which leads to unnecessary counter-correction. Conventional front wheel steering is unable to satisfy the manoeuvre with a high lateral acceleration since the front steering angle is limited in accurately responding to vehicle dynamics. Moreover, the characteristics of front wheel steering vehicles affect handling stability due to the fact that the turning radius is larger than the vehicle itself. This disadvantageous can compromise safety during under-steer and over-steer situations. The main objective of this preliminary study is to investigate the performance of a four-wheel steering system (4WS) in path tracking for autonomous vehicles using a classical model predictive controller (MPC). Conventional two-wheel steering (2WS) tracking performance following the desired driving system with the same MPC controller is compared with 4WS vehicles. The driving system is developed using Driving Scenario Designer to extract the desired yaw angle and lateral position for controller references constructed in Matlab Simulink. Fixed MPC constraint, prediction, control horizon, yaw angle and lateral position weights were used to compare the performance between 2WS and 4WS vehicles. The simulation results show that 4WS is three times better than 2WS vehicles in tracking predetermined paths. 4WS vehicle show 74.55% better performance in lateral position tracking and 68.75% better performance in trailing predetermined yaw angle value. The simulation data from the preliminary study will be used as a guideline to develop an advanced controller of 4WS vehicles. Universiti Malaysia Pahang 2024-07-10 Article PeerReviewed pdf en cc_by_nc_4 http://umpir.ump.edu.my/id/eprint/42897/1/An%20Investigation%20of%20Classical%20Model%20Predictive%20Controller%20Path%20Tracking%20Performance.pdf H., Che Shamsudin and Muhammad Izhar, Ishak and Mohamad Heerwan, Peeie and Muhammad Aizzat, Zakaria (2024) An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle. International Journal of Automotive and Mechanical Engineering (IJAME), 21 (3). 11712 -11722. ISSN 2229-8649 (Print); 2180-1606 (Online). (Published) https://doi.org/10.15282/ijame.21.3.2024.20.0903 https://doi.org/10.15282/ijame.21.3.2024.20.0903
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
H., Che Shamsudin
Muhammad Izhar, Ishak
Mohamad Heerwan, Peeie
Muhammad Aizzat, Zakaria
An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle
description Studies on self-driving vehicles have become a trend in recent years, and many systems have been developed to enable autonomous manoeuvre. Various methods have been used to improve path-tracking algorithms which increase vehicle performance, including tracking accuracy and stability. Path tracking is one of the primary problems for autonomous vehicles where the vehicle deviates from target paths, which leads to unnecessary counter-correction. Conventional front wheel steering is unable to satisfy the manoeuvre with a high lateral acceleration since the front steering angle is limited in accurately responding to vehicle dynamics. Moreover, the characteristics of front wheel steering vehicles affect handling stability due to the fact that the turning radius is larger than the vehicle itself. This disadvantageous can compromise safety during under-steer and over-steer situations. The main objective of this preliminary study is to investigate the performance of a four-wheel steering system (4WS) in path tracking for autonomous vehicles using a classical model predictive controller (MPC). Conventional two-wheel steering (2WS) tracking performance following the desired driving system with the same MPC controller is compared with 4WS vehicles. The driving system is developed using Driving Scenario Designer to extract the desired yaw angle and lateral position for controller references constructed in Matlab Simulink. Fixed MPC constraint, prediction, control horizon, yaw angle and lateral position weights were used to compare the performance between 2WS and 4WS vehicles. The simulation results show that 4WS is three times better than 2WS vehicles in tracking predetermined paths. 4WS vehicle show 74.55% better performance in lateral position tracking and 68.75% better performance in trailing predetermined yaw angle value. The simulation data from the preliminary study will be used as a guideline to develop an advanced controller of 4WS vehicles.
format Article
author H., Che Shamsudin
Muhammad Izhar, Ishak
Mohamad Heerwan, Peeie
Muhammad Aizzat, Zakaria
author_facet H., Che Shamsudin
Muhammad Izhar, Ishak
Mohamad Heerwan, Peeie
Muhammad Aizzat, Zakaria
author_sort H., Che Shamsudin
title An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle
title_short An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle
title_full An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle
title_fullStr An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle
title_full_unstemmed An Investigation of Classical Model Predictive Controller Path Tracking Performance of a Two-Wheel and Four-Wheel Steering Vehicle
title_sort investigation of classical model predictive controller path tracking performance of a two-wheel and four-wheel steering vehicle
publisher Universiti Malaysia Pahang
publishDate 2024
url http://umpir.ump.edu.my/id/eprint/42897/1/An%20Investigation%20of%20Classical%20Model%20Predictive%20Controller%20Path%20Tracking%20Performance.pdf
http://umpir.ump.edu.my/id/eprint/42897/
https://doi.org/10.15282/ijame.21.3.2024.20.0903
https://doi.org/10.15282/ijame.21.3.2024.20.0903
_version_ 1822924741755797504
score 13.232414

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