Year: 2025
Type: article
Abstract: In this study, a new method was applied to systematically combine the two controllers, which can help overcome the limitations of non-systematic combinations such as rule-based methods. For the model-based process, the bicycle model was used. Then, the model probability was calculated through the interactive multiple model filtering algorithm, which stochastically determines the most appropriate model that fits the current dynamic situation of the vehicle well. Based on this result, a hybrid path tracking controller was developed using the model probability of each method. The superiority of the proposed method was validated using the MORAI Drive simulator, which reflects the real road environment well enough. The results showed that the RMS tracking performance error was reduced by 6.0-8.8% in quarter-circle path and 3.3% in general path compared to single methods.
Source: Sensors
DOI: 10.3390/s25206491
Author: Hojin Jung
Institution: Korea National University of Transportation
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4415401755