A tracking control method for collision avoidance trajectory of autonomous vehicle based on multi-constraint MPC Online publication date: Thu, 14-Apr-2022
by Zhiyong Jing; Wei Huang; Huan Ma
International Journal of Vehicle Design (IJVD), Vol. 86, No. 1/2/3/4, 2021
Abstract: In order to overcome the problems of low control accuracy and control efficiency of traditional vehicle collision avoidance trajectory tracking control method, this paper proposes a multi constraint MPC based automatic driving vehicle collision avoidance trajectory tracking control method. The vehicle dynamics model and tyre dynamics model were constructed, and the relationship between tyre slip angle and force was analysed from three degrees of freedom directions. The road adhesion coefficient of tyre is calculated, and the relationship between adhesion coefficient and tyre lateral force is studied. Combined with the dynamic model and the analysis results, a multi constraint MPC model is constructed, and the model is solved by EMPC to realise the trajectory tracking control of automatic driving vehicle. The experimental results show that the proposed method can accurately predict the vehicle lateral position and yaw angle, and the control accuracy is high.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Design (IJVD):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook