Optimal Control of Intelligent Vehicle Path Tracking
Path tracking control is a core technology of intelligent vehicles, and the accuracy of tracking performance is a key element of this technology. In order to address the issue of low accuracy in traditional methods for solving intelligent vehicle path tracking problems, a fast and high-precision sol...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10947744/ |
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| author | Enhao Wang Yingjie Liu Chenglian Xie |
| author_facet | Enhao Wang Yingjie Liu Chenglian Xie |
| author_sort | Enhao Wang |
| collection | DOAJ |
| description | Path tracking control is a core technology of intelligent vehicles, and the accuracy of tracking performance is a key element of this technology. In order to address the issue of low accuracy in traditional methods for solving intelligent vehicle path tracking problems, a fast and high-precision solution method was design. This method discretized the continuous optimal control problem at collocation points and approximated the state and control variables through global interpolation polynomials, thereby transforming the optimal control problem of intelligent vehicle path tracking into a nonlinear programming NLP problem for solution. Finally, the real vehicle test verified the effectiveness of the method. The simulation results and comparison with traditional methods show that this method can solve the intelligent vehicle path tracking problem with high accuracy and has good engineering application potential. |
| format | Article |
| id | doaj-art-d950fc909d584416a232ebeb1e76c60d |
| institution | DOAJ |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-d950fc909d584416a232ebeb1e76c60d2025-08-20T03:08:46ZengIEEEIEEE Access2169-35362025-01-0113601486015710.1109/ACCESS.2025.355721510947744Optimal Control of Intelligent Vehicle Path TrackingEnhao Wang0https://orcid.org/0009-0007-2081-7922Yingjie Liu1https://orcid.org/0000-0001-8615-7372Chenglian Xie2Department of Engineering, Durham University, Durham, U.K.School of Machinery and Automation, Weifang University, Weifang, Shandong, ChinaShandong Industrial Technician College, Weifang, Shandong, ChinaPath tracking control is a core technology of intelligent vehicles, and the accuracy of tracking performance is a key element of this technology. In order to address the issue of low accuracy in traditional methods for solving intelligent vehicle path tracking problems, a fast and high-precision solution method was design. This method discretized the continuous optimal control problem at collocation points and approximated the state and control variables through global interpolation polynomials, thereby transforming the optimal control problem of intelligent vehicle path tracking into a nonlinear programming NLP problem for solution. Finally, the real vehicle test verified the effectiveness of the method. The simulation results and comparison with traditional methods show that this method can solve the intelligent vehicle path tracking problem with high accuracy and has good engineering application potential.https://ieeexplore.ieee.org/document/10947744/Vehicle dynamicstrajectory trackingoptimal controlsparse finite difference |
| spellingShingle | Enhao Wang Yingjie Liu Chenglian Xie Optimal Control of Intelligent Vehicle Path Tracking IEEE Access Vehicle dynamics trajectory tracking optimal control sparse finite difference |
| title | Optimal Control of Intelligent Vehicle Path Tracking |
| title_full | Optimal Control of Intelligent Vehicle Path Tracking |
| title_fullStr | Optimal Control of Intelligent Vehicle Path Tracking |
| title_full_unstemmed | Optimal Control of Intelligent Vehicle Path Tracking |
| title_short | Optimal Control of Intelligent Vehicle Path Tracking |
| title_sort | optimal control of intelligent vehicle path tracking |
| topic | Vehicle dynamics trajectory tracking optimal control sparse finite difference |
| url | https://ieeexplore.ieee.org/document/10947744/ |
| work_keys_str_mv | AT enhaowang optimalcontrolofintelligentvehiclepathtracking AT yingjieliu optimalcontrolofintelligentvehiclepathtracking AT chenglianxie optimalcontrolofintelligentvehiclepathtracking |