Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a lin...
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Hindawi Limited
2016
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| 在线阅读: | http://eprints.utm.my/id/eprint/74552/1/AminudinAbu2016_StudyofModelPredictiveControlforPathFollowing.pdf http://eprints.utm.my/id/eprint/74552/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971246054&doi=10.1155%2f2016%2f6752671&partnerID=40&md5=ab6effbceab550a71091df7d8fc6fa61 |
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my.utm.745522017-11-29T23:58:44Z http://eprints.utm.my/id/eprint/74552/ Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect Yakub, F. Abu, A. Sarip, S. Mori, Y. T Technology (General) We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect. Hindawi Limited 2016 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/74552/1/AminudinAbu2016_StudyofModelPredictiveControlforPathFollowing.pdf Yakub, F. and Abu, A. and Sarip, S. and Mori, Y. (2016) Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect. Journal of Control Science and Engineering, 2016 . ISSN 1687-5249 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971246054&doi=10.1155%2f2016%2f6752671&partnerID=40&md5=ab6effbceab550a71091df7d8fc6fa61 |
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T Technology (General) Yakub, F. Abu, A. Sarip, S. Mori, Y. Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| description |
We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect. |
| format |
Article |
| author |
Yakub, F. Abu, A. Sarip, S. Mori, Y. |
| author_facet |
Yakub, F. Abu, A. Sarip, S. Mori, Y. |
| author_sort |
Yakub, F. |
| title |
Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| title_short |
Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| title_full |
Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| title_fullStr |
Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| title_full_unstemmed |
Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| title_sort |
study of model predictive control for path-following autonomous ground vehicle control under crosswind effect |
| publisher |
Hindawi Limited |
| publishDate |
2016 |
| url |
http://eprints.utm.my/id/eprint/74552/1/AminudinAbu2016_StudyofModelPredictiveControlforPathFollowing.pdf http://eprints.utm.my/id/eprint/74552/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971246054&doi=10.1155%2f2016%2f6752671&partnerID=40&md5=ab6effbceab550a71091df7d8fc6fa61 |
| _version_ |
1643656878570340352 |
| score |
13.250246 |