Work

Intelligent Vehicle Trajectory Tracking Based on Horizontal and Vertical Integrated Control

Year: 2024

Type: article

Abstract: To address the common issues of accuracy and stability in trajectory tracking tasks for autonomous vehicles, this study proposes an innovative composite control strategy that skillfully integrates lateral and longitudinal dynamic control. For lateral control, model predictive control (MPC) theory is introduced to compute the front wheel steering angle that ensures optimal trajectory following. On the longitudinal control level, the vehicle’s acceleration and deceleration logic are finely tuned to ensure precise adherence to the preset speed trajectory. More importantly, by deeply integrating these two control methods, the comprehensive coordination of the vehicle’s lateral and longitudinal movements is achieved. To validate the effectiveness of the proposed control strategy, simulations were conducted using the CarSim and MATLAB/Simulink platforms. The analysis of the simulation results confirms that the proposed method effectively improves speed tracking stability and significantly enhances path tracking accuracy and overall driving stability.

Source: World Electric Vehicle Journal

DOI: 10.3390/wevj15110513

Authors: Jingbo Xu, Jingbo Zhao, Jianfeng Zheng, Haimei Liu

Institutions: Changzhou Institute of Technology, Changzhou University, Shanghai Polytechnic University

Language: English

Topic: Vehicle Dynamics and Control Systems

Subfield: Automotive Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,591

Funder: National Natural Science Foundation of China