Intelligent Vehicle Trajectory Tracking Based on Horizontal and Vertical Integrated Control

被引：0
|
作者：
Xu, Jingbo [1 ,2 ]
Zhao, Jingbo [1 ,2 ,3 ]
Zheng, Jianfeng [1 ]
Liu, Haimei [3 ]
机构：
[1] School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou,213164, China
[2] School of Automotive Engineering, Changzhou Institute of Technology, Changzhou,213032, China
[3] School of Intelligent Manufacturing and Control Engineering, Shanghai Polytechnic University, Shanghai,201209, China
来源：
World Electric Vehicle Journal | 2024年 / 15卷 / 11期
关键词：
To address the common issues of accuracy and stability in trajectory tracking tasks for autonomous vehicles; this study proposes an innovative composite control strategy that skillfully integrates lateral and longitudinal dynamic control. For lateral control; model predictive control (MPC) theory is introduced to compute the front wheel steering angle that ensures optimal trajectory following. On the longitudinal control level; the vehicle’s acceleration and deceleration logic are finely tuned to ensure precise adherence to the preset speed trajectory. More importantly; by deeply integrating these two control methods; the comprehensive coordination of the vehicle’s lateral and longitudinal movements is achieved. To validate the effectiveness of the proposed control strategy; simulations were conducted using the CarSim and MATLAB/Simulink platforms. The analysis of the simulation results confirms that the proposed method effectively improves speed tracking stability and significantly enhances path tracking accuracy and overall driving stability. © 2024 by the authors;
D O I：
10.3390/wevj15110513
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