Title: Simulation-based trajectory tracking coordination of intelligent vehicle with explicit model prediction

Authors: Xingyuan Xu; Liyang Xie; Yin Zhang

Addresses: Northeastern University, Wenhua Rd. 3-11 Shenyang, 110819, China ' Northeastern University, Wenhua Rd. 3-11 Shenyang, 110819, China ' Brilliance Auto R&D Center, No. 12, 8th Rd., Economical and Technology Development Zone, Shenyang 110141, China

Abstract: In this paper a novel approach to trajectory tracking problem of intelligent vehicle is presented. A model-based optimisation algorithm for steering systems with multiple physical constraints is designed. A simplified linear vehicle model is designed in order to improve its real-time ability. Moreover, an offline solving method based on explicit model predictive control (EMPC) is presented to improve the computation speed. The simulation results show the offline solving method has the same tracking performance compared with the online solving problem by YALMIP toolbox. The computation speed is significantly increased.

Keywords: trajectory tracking; explicit model predictive control; EMPC; vehicle modelling; fast solving.

DOI: 10.1504/IJSPM.2020.10034723

International Journal of Simulation and Process Modelling, 2020 Vol.15 No.6, pp.584 - 590

Received: 14 Nov 2018
Accepted: 26 Jul 2019

Published online: 19 Jan 2021 *

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