Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control
Abstract This paper presents a lateral control scheme based on event‐triggered model predictive control for trajectory tracking of autonomous vehicles. Firstly, the augmentation system is constructed based on the known road curvature information, and the model predictive controller is utilized to ob...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2024-12-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12589 |
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| _version_ | 1850250370477981696 |
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| author | Jindou Zhang Zhiwen Wang Long Li Kangkang Yang Yanrong Lu |
| author_facet | Jindou Zhang Zhiwen Wang Long Li Kangkang Yang Yanrong Lu |
| author_sort | Jindou Zhang |
| collection | DOAJ |
| description | Abstract This paper presents a lateral control scheme based on event‐triggered model predictive control for trajectory tracking of autonomous vehicles. Firstly, the augmentation system is constructed based on the known road curvature information, and the model predictive controller is utilized to obtain the optimal control sequence. Then, an event‐triggered mechanism is introduced to improve the real‐time performance of the control system. The strategy targets to reduce the computational complexity and solving frequency of the optimization problem. In addition, a contraction constraint is structured using the backstepping control strategy to ensure the stability of the control system. Finally, experiments are conducted through the CarSim/Simulink joint simulation platform, and compared with the traditional model predictive control, the method proposed in this paper has better tracking accuracy and improves the real‐time performance of the control system. |
| format | Article |
| id | doaj-art-abfaaa82bda8431a9e0147296f35d425 |
| institution | OA Journals |
| issn | 1751-956X 1751-9578 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj-art-abfaaa82bda8431a9e0147296f35d4252025-08-20T01:58:12ZengWileyIET Intelligent Transport Systems1751-956X1751-95782024-12-0118S12856286810.1049/itr2.12589Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive controlJindou Zhang0Zhiwen Wang1Long Li2Kangkang Yang3Yanrong Lu4College of Electrical and Information Engineering Lanzhou University of Technology Lanzhou ChinaCollege of Electrical and Information Engineering Lanzhou University of Technology Lanzhou ChinaCollege of Electrical and Information Engineering Lanzhou University of Technology Lanzhou ChinaCollege of Electrical and Information Engineering Lanzhou University of Technology Lanzhou ChinaCollege of Electrical and Information Engineering Lanzhou University of Technology Lanzhou ChinaAbstract This paper presents a lateral control scheme based on event‐triggered model predictive control for trajectory tracking of autonomous vehicles. Firstly, the augmentation system is constructed based on the known road curvature information, and the model predictive controller is utilized to obtain the optimal control sequence. Then, an event‐triggered mechanism is introduced to improve the real‐time performance of the control system. The strategy targets to reduce the computational complexity and solving frequency of the optimization problem. In addition, a contraction constraint is structured using the backstepping control strategy to ensure the stability of the control system. Finally, experiments are conducted through the CarSim/Simulink joint simulation platform, and compared with the traditional model predictive control, the method proposed in this paper has better tracking accuracy and improves the real‐time performance of the control system.https://doi.org/10.1049/itr2.12589backstepping methodevent‐triggeringmodel prediction controltrajectory tracking |
| spellingShingle | Jindou Zhang Zhiwen Wang Long Li Kangkang Yang Yanrong Lu Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control IET Intelligent Transport Systems backstepping method event‐triggering model prediction control trajectory tracking |
| title | Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control |
| title_full | Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control |
| title_fullStr | Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control |
| title_full_unstemmed | Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control |
| title_short | Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control |
| title_sort | trajectory tracking control of autonomous vehicles based on event triggered model predictive control |
| topic | backstepping method event‐triggering model prediction control trajectory tracking |
| url | https://doi.org/10.1049/itr2.12589 |
| work_keys_str_mv | AT jindouzhang trajectorytrackingcontrolofautonomousvehiclesbasedoneventtriggeredmodelpredictivecontrol AT zhiwenwang trajectorytrackingcontrolofautonomousvehiclesbasedoneventtriggeredmodelpredictivecontrol AT longli trajectorytrackingcontrolofautonomousvehiclesbasedoneventtriggeredmodelpredictivecontrol AT kangkangyang trajectorytrackingcontrolofautonomousvehiclesbasedoneventtriggeredmodelpredictivecontrol AT yanronglu trajectorytrackingcontrolofautonomousvehiclesbasedoneventtriggeredmodelpredictivecontrol |