Journal
IEEE ACCESS
Volume 10, Issue -, Pages 31723-31731Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3135489
Keywords
Vehicle dynamics; Tires; Dynamics; Trajectory tracking; Trajectory; Force; Costs; Trajectory tracking; intelligent vehicle; control; motion planning
Categories
Funding
- Institute of Information and Communications Technology Planning and Evaluation (IITP) Grant by the Korean Government through the MSIT [2021-0-01189]
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This paper proposes a game-based coupling controller to address the issues of autonomous vehicles in the trajectory tracking process. The controller ensures path tracking accuracy, exhibits good tracking performance for changing speed profiles, improves ride comfort, and solves lateral stability problems. Comparisons with a classical MPC controller show that the proposed controller outperforms in terms of trajectory tracking performance, ride comfort, and lateral stability.
In this paper, we propose a game-based coupling controller to solve the problem of autonomous vehicles in the trajectory tracking process. The controller ensures path tracking accuracy and shows good tracking performance for the desired speed profile that changes based on navigation while driving. Furthermore, it improves ride comfort and addresses the lateral stability problems that occur when applying classical model predictive control (MPC) controllers. We implemented this controller to plan the trajectory by considering the fundamental interaction between longitudinal and lateral vehicle dynamics, as well as to track the trajectory by using a receding horizon strategy. A comparative study was conducted to compare the proposed controller with the classical MPC controller. Based on CarMaker-Matlab/Simulink co-simulations, this controller outperformed the classical MPC in terms of trajectory tracking performance. Moreover, it exhibits excellent ride comfort and lateral stability that passengers will experience.
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