Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect
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 lin...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/6752671 |
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| _version_ | 1849397927904018432 |
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| author | Fitri Yakub Aminudin Abu Shamsul Sarip Yasuchika Mori |
| author_facet | Fitri Yakub Aminudin Abu Shamsul Sarip Yasuchika Mori |
| author_sort | Fitri Yakub |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a7e39f416e5f43cba65257e9f17de440 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-a7e39f416e5f43cba65257e9f17de4402025-08-20T03:38:48ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/67526716752671Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind EffectFitri Yakub0Aminudin Abu1Shamsul Sarip2Yasuchika Mori3Malaysia Japan International Institute of Technology, Universiti Teknologi Malaysia, Jalan Semarak, 54100 Kuala Lumpur, MalaysiaMalaysia Japan International Institute of Technology, Universiti Teknologi Malaysia, Jalan Semarak, 54100 Kuala Lumpur, MalaysiaUTM Razak School of Engineering and Advanced Technology, Universiti Teknologi Malaysia, Jalan Semarak, 54100 Kuala Lumpur, MalaysiaGraduate School of System Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 191-0065, JapanWe 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.http://dx.doi.org/10.1155/2016/6752671 |
| spellingShingle | Fitri Yakub Aminudin Abu Shamsul Sarip Yasuchika Mori Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect Journal of Control Science and Engineering |
| title | Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect |
| title_full | Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect |
| title_fullStr | Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect |
| title_full_unstemmed | Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect |
| title_short | Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect |
| title_sort | study of model predictive control for path following autonomous ground vehicle control under crosswind effect |
| url | http://dx.doi.org/10.1155/2016/6752671 |
| work_keys_str_mv | AT fitriyakub studyofmodelpredictivecontrolforpathfollowingautonomousgroundvehiclecontrolundercrosswindeffect AT aminudinabu studyofmodelpredictivecontrolforpathfollowingautonomousgroundvehiclecontrolundercrosswindeffect AT shamsulsarip studyofmodelpredictivecontrolforpathfollowingautonomousgroundvehiclecontrolundercrosswindeffect AT yasuchikamori studyofmodelpredictivecontrolforpathfollowingautonomousgroundvehiclecontrolundercrosswindeffect |