At present, the intelligent vehicles industry is getting hotter and hotter. The lateral control of intelligent vehicles is a key technology for intelligent driving vehicles under extreme conditions. This paper analyzes the dynamics of intelligent driving vehicles and uses model predictive control(MPC) to realize lateral control of intelligent driving vehicles on ice. This paper uses carsim to establish a vehicle model and configuration environment, and simulates it on an ice surface with a friction coefficient of $\mu=0.2$. Under this condition, the trajectory tracking of a vehicle with a speed of 6.7m/s is realized, and the maximum tracking error is only 0.35m.


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    Title :

    Lateral Control of Intelligent Driving Vehicles under Extreme Conditions


    Contributors:
    Zhang, Fei (author) / Zhu, Juping (author) / Li, Yuansheng (author) / Xu, Qing (author) / Wan, Yuanlong (author) / Gao, Hongbo (author) / Wang, Chengcai (author)


    Publication date :

    2021-10-15


    Size :

    516916 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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