Title: Model-Predictive-Control-based Simultaneous Trajectory Tracking and Speed Control for Intelligent Vehicles
Abstract: Trajectory tracking and speed control for intelligent vehicles are put forward higher requirements on accuracy by the high traffic density scenario. A standard Model Predictive Control (MPC) algorithm focuses on the trajectory tracking but ignores the speed control. This paper proposes a simultaneous trajectory tracking and speed control algorithm based on MPC approach to address fine control in both space and time dimensions for intelligent vehicles. A threefold cost function including lateral and longitudinal speed as well as comfort has been proposed to improve the control algorithm. The simulations and comparisons demonstrate that the proposed method has a better tracking and speed control performance than the existing method.
Publication Year: 2021
Publication Date: 2021-11-26
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 2
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