Title: Tracking control of steering collision avoidance trajectory based on simulated annealing algorithms

Authors: Minglu Han; Huipeng Chen; Xu Zhang; Chenyang Kuang; Junlin Chen; Jian Gao

Addresses: School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, China ' School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, China ' School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, China ' School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, China ' School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, China ' School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, China

Abstract: In response to the traditional MPC algorithm's difficult parameter adjustment leading to the inability to steer in a timely and accurate manner to avoid collisions, this paper designs an optimisation algorithm based on the simulated annealing algorithm with automatic parameter adjustment MPC. A vehicle dynamics model and a prediction model are established, and the simulated annealing algorithm is used to solve the objective function of the predetermined trajectory and obtain the weight matrix applicable to the prediction model. MPC the optimised controller is used to achieve the steering and collision avoidance trajectory tracking control of the vehicle. The simulation results under two operating conditions of medium and high-speed show that the controller can achieve fast response of vehicle steering and collision avoidance at different speeds and can keep the tracking error within 5%. The controller has the characteristics of timeliness, accuracy and stability.

Keywords: steering collision avoidance; polynomial trajectories; simulated annealing algorithms; MPC; trajectory tracking.

DOI: 10.1504/IJWMC.2023.131317

International Journal of Wireless and Mobile Computing, 2023 Vol.24 No.3/4, pp.266 - 273

Received: 13 Sep 2022
Received in revised form: 08 Oct 2022
Accepted: 18 Oct 2022
Published online: 06 Jun 2023 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article