典型文献
Extended model predictive control scheme for smooth path following of autonomous vehicles
文献摘要：
This paper presents an extended model predictive control(MPC)scheme for implementing optimal path following of autonomous vehicles,which has multiple constraints and an integrated model of vehicle and road dynamics.Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately.Sideslip,rollover,and vehicle envelopes are used as multiple constraints in the MPC controller formulation.Then,an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features.Finally,simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme.Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints,which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.
文献关键词：
中图分类号：
作者姓名：
Qianjie LIU;Shuang SONG;Huosheng HU;Tengchao HUANG;Chenyang LI;Qingyuan ZHU
作者机构：
Department of Mechanical and Electrical Engineering,Xiamen University,Xiamen 361102,China;School of Computer Science and Electronic Engineering,University ofEssex,Colchester CO4 3SQ,UK
文献出处：
引用格式：
[1]Qianjie LIU;Shuang SONG;Huosheng HU;Tengchao HUANG;Chenyang LI;Qingyuan ZHU-.Extended model predictive control scheme for smooth path following of autonomous vehicles)[J].机械工程前沿,2022(01):33-48
A类：
Sideslip
B类：
Extended,model,predictive,scheme,smooth,path,following,autonomous,vehicles,This,paper,presents,extended,MPC,implementing,optimal,which,has,multiple,constraints,integrated,road,dynamics,Road,curvature,inclination,factors,are,used,construction,describe,its,lateral,accurately,rollover,envelopes,controller,formulation,Then,method,solved,by,differential,evolution,optimization,algorithm,proposed,realize,driving,features,Finally,simulation,experiments,carried,out,evaluate,feasibility,effectiveness,Results,indicate,that,can,obtain,transition,drivable,satisfy,stability,environmental,improve,quality,better,ride,comfort,availability
AB值：
0.518051
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