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NMPC-Based Path Tracking Control Through Cascaded Discretization Method Considering Handling Stability for 4WS Autonomous Vehicles Under Extreme Conditions

In the realm of autonomous driving, motion control generally involves two critical aspects—path following and stability control—and an inevitable mutual interference exists between them under extreme conditions. To tackle this challenge, this study proposes a collaborative approach of path tracking...

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Principais autores: Guozhu Zhu, Weirong Hong
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2024-12-01
Serier:World Electric Vehicle Journal
Fag:
autonomous vehicles
path tracking
NMPC
cascaded discretization method
stability control
Online adgang:https://www.mdpi.com/2032-6653/15/12/573
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