MPC-based path following design for automated vehicles with rear wheel steering

Conference paper (2021)

Authors

Chuanyang Yu Ilmenau University of Technology
Y. Zheng Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
B. Shyrokau Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
Valentin Ivanov Ilmenau University of Technology
Research Group
Intelligent Vehicles (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Chuanyang Yu, Y. Zheng, B. Shyrokau, Valentin Ivanov
DOI: https://doi.org/10.1109/ICM46511.2021.9385606
Simulation Model predictive control Automated vehicle Path following control Rear wheel steering
More Info
expand_more

Published Date

2021

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Intelligent Vehicles

Abstract

Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model predictive control (NMPC) on a passenger vehicle with active RWS for path following. The controller was compared to two other variations of NMPC where the rear steering angle is proportional to the front or fixed to zero. Simulation results suggested that the proposed controller outperforms the other two variations and the baseline controllers (Stanley and LQR) in terms of accuracy and responsiveness.

Files

09385606.pdf
(.pdf | 0.748 Mb)