Design of a Path-Tracking Steering Controller for Autonomous Vehicles

This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC) scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation...

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Main Authors: Chuanyang Sun, Xin Zhang, Lihe Xi, Ying Tian
Formato: Artigo
Idioma:Inglês
Publicado: MDPI AG 2018-06-01
Series:Energies
Assuntos:
autonomous vehicles
model linearization
path tracking
steering controller
model predictive control
Acceso en liña:http://www.mdpi.com/1996-1073/11/6/1451
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