Universiti Teknologi Malaysia Institutional Repository

Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect

Yakub, F. and Abu, A. and Sarip, S. and Mori, Y. (2016) Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect. Journal of Control Science and Engineering, 2016 . ISSN 1687-5249

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Abstract

We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

Item Type:Article
Uncontrolled Keywords:Automobile steering equipment, Control system synthesis, Four wheel steering, Ground vehicles, Roads and streets, Steering, Vehicles, Wheels, Autonomous ground vehicles, Comparative studies, Desired trajectories, Direct yaw moment control, Double lane changes, Model-predictive control approach, Path following control, Vehicle stability, Model predictive control
Subjects:T Technology > T Technology (General)
Divisions:Malaysia-Japan International Institute of Technology
ID Code:74552
Deposited By: Fazli Masari
Deposited On:29 Nov 2017 23:58
Last Modified:29 Nov 2017 23:58

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