Aiming at the trajectory tracking problem of autonomous vehicles, a Model Predictive Control (MPC) method imitating a driver is proposed. Using vehicle's dynamics as a prediction model, a linear time-varying model predictive controller is utilized to solve the optimal front wheel angle. According to the actual situation in which the driver pays more attention to the driving conditions in the close distance, the weight proportions of different step lengths in the prediction time domain are adjusted. A vehicle model is constructed in Carsim platform, and joint simulation with MATLAB/Simulink is performed to validate the effectiveness of the proposed controller. Simulation results show, compared to the traditional MPC algorithm, that the proposed control strategy can make the lateral displacement error of trajectory tracking decrease, improves tracking accuracy, and reduces fluctuations in the front wheel angle, thereby significantly enhancing the stability of trajectory tracking.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Research on trajectory tracking of autonomous vehicle based on human imitation


    Beteiligte:
    Saxena, Sandeep (Herausgeber:in) / Zhao, Cairong (Herausgeber:in) / Lei, Tianyu (Autor:in) / Mao, Jin (Autor:in) / Yu, Ze (Autor:in) / Pan, Junwen (Autor:in)

    Kongress:

    International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023) ; 2023 ; Yinchuan, China


    Erschienen in:

    Proc. SPIE ; 12941


    Erscheinungsdatum :

    07.12.2023





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Vision-Based Trajectory Planning via Imitation Learning for Autonomous Vehicles

    Cai, Peide / Sun, Yuxiang / Chen, Yuying et al. | IEEE | 2019


    Autonomous Robots for Space: Trajectory Learning and Adaptation Using Imitation

    Ashith Shyam, R. B. / Hao, Zhou / Montanaro, Umberto et al. | DataCite | 2021

    Freier Zugriff

    Trajectory Planning and Tracking for Autonomous Vehicle Considering Human Driver Personality

    Zhang, Chaoyong / Chu, Duanfeng / Lyu, Nengchao et al. | IEEE | 2019


    Adaptive trajectory tracking control for autonomous vehicle platoons

    Cui, Shaohua / Tang, Yutong / Qi, Zhihao et al. | British Library Conference Proceedings | 2023


    Trajectory Tracking for Autonomous Vehicle: Design and Implementation

    Kumar, Kishor / Singh, S. P. / Kanchwala, Husain | Springer Verlag | 2024