Design and Validation of Trajectory Tracking Controller for Autonomous Vehicle Based on Linear Time-varying MPC Method

PANG Hui; LIU Nan; LIU Minhao; ZHANG Fengqi

doi:10.3901/JME.2022.24.264

Volume 58 Issue 24

Dec 2022

Turn off MathJax

Article Contents

JOURNAL OF MECHANICAL ENGINEERING > 2022 > 58(24): 264-274.

PANG Hui, LIU Nan, LIU Minhao, ZHANG Fengqi. Design and Validation of Trajectory Tracking Controller for Autonomous Vehicle Based on Linear Time-varying MPC Method[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 58(24): 264-274. doi: 10.3901/JME.2022.24.264

Citation:

PANG Hui, LIU Nan, LIU Minhao, ZHANG Fengqi. Design and Validation of Trajectory Tracking Controller for Autonomous Vehicle Based on Linear Time-varying MPC Method[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 58(24): 264-274. doi: 10.3901/JME.2022.24.264

Citation:

PDF( 0 KB)

Design and Validation of Trajectory Tracking Controller for Autonomous Vehicle Based on Linear Time-varying MPC Method

doi: 10.3901/JME.2022.24.264

School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048

Received Date: 25 Jan 2022
Rev Recd Date: 25 Jul 2022

Available Online: 07 Mar 2024

Issue Publish Date: 20 Dec 2022

Abstract

Abstract

With the rapid development and implementation of autonomous driving technology, accurate trajectory tracking for such autonomous vehicles(AVs) has become one of core techniques for fulfilling the AVs motion control in automobile industry and academic research areas. To improve the real-time and accuracy performance of trajectory tracking for the AVs, it is proposed a comprehensive linear time-varying model predictive controller(LTV-MPC) applied to a certain AV. First, a two-degree-of-freedom kinematic model of an AV is constructed in terms of vehicle kinematics principle, Next, based on this 2-DOF kinematic model of AV, a dynamic error model of vehicle's trajectory tracking system is derived using linear time-varying theory, and this model is then linearized by a successive linearization, and the design of this desirable trajectory tracking controller is transformed to a quadratic programming optimized problem in the framework of model predictive control. Finally, the effectiveness of the proposed controller is validated on a self-established test platform under various prescribed reference road trajectories, the results show that this AV with the proposed LTV-MPC can track the prescribed reference road trajectories with high speed and precision, as well as good stability for the AV under various driving conditions.
- autonomous vehicle,
- linear time-varying theory,
- model predictive controller,
- trajectory tracking control

FullText(HTML)

References(34)

References

[1]	PADEN B, CAP M, YONG S Z, et al. A survey of motion planning and control techniques for self-driving urban vehicles[J]. IEEE Transactions on Intelligent Vehicles, 2016, 1(1): 33-55. doi: 10.1109/TIV.2016.2578706
[2]	郭景华, 李克强, 罗禹贡. 智能车辆运动控制研究综述[J]. 汽车安全与节能学报, 2016(2): 151-159. https://www.cnki.com.cn/Article/CJFDTOTAL-QCAN201602003.htm GUO Jinghua, LI Keqiang, LUO Yugong. Review on the research of motion control for intelligent vehicles[J]. Journal of Automotive Safety and Energy, 2016(2): 151-159. https://www.cnki.com.cn/Article/CJFDTOTAL-QCAN201602003.htm
[3]	姜岩, 陈慧岩, 熊光明, 等. 无人驾驶汽车概论[M]. 北京: 北京理工大学出版社, 2014. JIANG Yan, CHEN Huiyan, XIONG Guangming, et al. Introduction to self-driving vehicles[M]. Beijing: Beijing Institute of Technology Press, 2014.
[4]	LAPIERRE L, JOUVENCEL B. Robust nonlinear path-following control of an AUV[J]. IEEE Journal of Oceanic Engineering, 2008, 33(2): 89-102. doi: 10.1109/JOE.2008.923554
[5]	XU D, SHI Y, JI Z. Model-free adaptive discrete-time integral sliding-mode-constrained-control for autonomous 4WMV parking systems[J]. IEEE Transactions on Industrial Electronics, 2017, 65(1): 834-843.
[6]	陈刚, 吴俊. 无人驾驶机器人车辆非线性模糊滑模车速控制[J]. 中国公路学报, 2019, 32(6): 114-123. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201906013.htm CHEN Gang, WU Jun. Nonlinear fuzzy sliding mode speed control for unmanned driving robotic vehicle[J]. China Journal of Highway and Transport, 2019, 32(6): 114-123. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201906013.htm
[7]	王家恩, 陈无畏, 王檀彬, 等. 基于期望横摆角速度的视觉导航智能车辆横向控制[J]. 机械工程学报, 2012, 48(4): 108-115. http://www.cjmenet.com.cn/CN/Y2012/V48/I4/108 WANG Jiaen, CHEN Wuwei, WANG Tanbin, et al. Vision guided intelligent vehicle lateral control based on desired yaw rate[J]. Journal of Mechanical Engineering, 2012, 48(4): 108-115. http://www.cjmenet.com.cn/CN/Y2012/V48/I4/108
[8]	NGUYEN A T, SENTOUH C, POPIEUL J C. Sensor reduction for driver-automation shared steering control via an adaptive authority allocation strategy[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(1): 5-16. doi: 10.1109/TMECH.2017.2698216
[9]	HWANG C, YANG C, HUNG J. Path tracking of an autonomous ground vehicle with different payloads by hierarchical improved fuzzy dynamic sliding-mode control[J]. IEEE Transactions on Fuzzy Systems, 2018, 26(2): 899-914. doi: 10.1109/TFUZZ.2017.2698370
[10]	章仁燮, 熊璐, 余卓平, 等. 基于条件积分算法的无人驾驶车辆轨迹跟踪鲁棒控制方法[J]. 机械工程学报, 2018(18): 129-139. doi: 10.3901/JME.2018.18.129 ZHANG Renxie, XIONG Lu, YU Zhuoping, et al. Robust trajectory tracking control of autonomous vehicles based on condition integration method[J]. Journal of Mechanical Engineering, 2018 (18): 129-139. doi: 10.3901/JME.2018.18.129
[11]	宋彦, 赵盼, 陶翔, 等. 基于μ综合的无人驾驶车辆路径跟随串级鲁棒控制方法[J]. 机器人, 2013, 35(4): 417-424. https://www.cnki.com.cn/Article/CJFDTOTAL-JQRR201304005.htm SONG Yan, ZHAO Pan, TAO Xiang, et al. UGV robust path following control under double loop structure with μ synthesis[J]. Robot, 2013, 35(4): 417-424. https://www.cnki.com.cn/Article/CJFDTOTAL-JQRR201304005.htm
[12]	JI X, HE X, Lv C, et al. Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits[J]. Control Engineering Practice, 2018, 76: 41-53. doi: 10.1016/j.conengprac.2018.04.007
[13]	TAGHAVIFAR H. Neural network autoregressive with exogenous input assisted multi-constraint nonlinear predictive control of autonomous vehicles[J]. IEEE Transactions on Vehicular Technology, 2019, 68(7): 6293-6304. doi: 10.1109/TVT.2019.2914027
[14]	HUANG Z, XU X, HE H, et al. Parameterized batch reinforcement learning for longitudinal control of autonomous land vehicles[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019, 49(4): 730-741. doi: 10.1109/TSMC.2017.2712561
[15]	TAGHAVIFAR H, RAKHEJA S. A novel terramechanics-based path-tracking control of terrain-based wheeled robot vehicle with matched-mismatched uncertainties[J]. IEEE Transactions on Vehicular Technology, 2020, 69(1): 67-77. doi: 10.1109/TVT.2019.2950288
[16]	王艺, 蔡英凤, 陈龙, 等. 基于模型预测控制的智能网联汽车路径跟踪控制器设计[J]. 机械工程学报, 2019, 55(8): 136-144, 153. doi: 10.3901/JME.2019.08.136 WANG Yi, CAI Yingfeng, CHEN Long, et al. Design of intelligent and connected vehicle path tracking controller based on model predictive control[J]. Journal of Mechanical Engineering, 2019, 55(8): 136-144, 153. doi: 10.3901/JME.2019.08.136
[17]	ERLIEN S M, FUJITA S, GERDES J C. Shared steering control using safe envelopes for obstacle avoidance and vehicle stability[J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(2): 441-451.
[18]	GUO H, CHEN S, ZHANG H, et al. Simultaneous trajectory planning and tracking using an MPC method for cyber-physical systems: a case study of obstacle avoidance for an intelligent vehicle[J]. IEEE Transactions on Industrial Informatics, 2018, 14(9): 4273-4283.
[19]	SCHWARTING W, ALONSO-MORA J, PAULL L, et al. Safe nonlinear trajectory generation for parallel autonomy with a dynamic vehicle model[J]. IEEE Transactions on Intelligent Transportation Systems, 2018, 19(9): 2994-3008.
[20]	冀杰, 唐志荣, 吴明阳, 等. 面向车道变换的路径规划及模型预测轨迹跟踪[J]. 中国公路学报, 2018, 31(4): 176-183. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201804022.htm JI Jie, TANG Zhirong, WU Mingyang, et al. Path planning and tracking for lane changing based on model predictive control[J]. China Journal of Highway and Transport, 2018, 31(4): 176-183. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201804022.htm
[21]	BUJARBARUAH M, ZHANG X, TSENG H E, et al. Adaptive MPC for autonomous lane keeping[C]//14th International Symposium on Advanced Vehicle Control (AVEC), 2008: 223-225.
[22]	KIM E, KIM J, SUNWOO M. Model predictive control strategy for smooth path tracking of autonomous vehicles with steering actuator dynamics[J]. International Journal of Automotive Technology, 2014, 15(7): 1155-1164.
[23]	CHEN S, GUO H, et al. MPC-based path tracking controller design for autonomous ground vehicles[C]// Chinese Control Conference, 2017: 1934-1768.
[24]	CHEN Y, HU C, WANG J. Human-centered trajectory tracking control for autonomous vehicles with driver cut-in behavior prediction[J]. IEEE Transactions on Vehicular Technology, 2019, 68(9): 8461-8471.
[25]	辛喆, 陈海亮, 林子钰, 等. 智能汽车的路面附着极限横向轨迹跟踪控制[J]. 机械工程学报, 2020, 56(14): 138-145. doi: 10.3901/JME.2020.14.138 XIN Zhe, CHEN Hailiang, LIN Ziyu, et al. Lateral trajectory following for automated vehicles at handling limits[J]. Journal of Mechanical Engineering, 2020, 56(14): 138-145. doi: 10.3901/JME.2020.14.138
[26]	任玥, 郑玲, 张巍, 等. 基于模型预测控制的智能车辆主动避撞控制研究[J]. 汽车工程, 2019, 41(04): 48-54. https://www.cnki.com.cn/Article/CJFDTOTAL-QCGC201904008.htm REN Yue, ZHENG Ling, ZHANG Wei, et al. A study on collision avoidance control of autonomous vehicles based on model predictive control[J]. Automotive Engineering, 2019, 41(4): 48-54. https://www.cnki.com.cn/Article/CJFDTOTAL-QCGC201904008.htm
[27]	KOUVARITAKIS B, CANNON M, ROSSITER J A. Who needs QP for linear MPC anyway? [J]. Automatica, 2002, 38(5): 879-884.
[28]	NAUS G, DEN Bleek R V, PLOEG J, et al. Explicit MPC design and performance evaluation of an ACC Stop-&-Go[C]// American Control Conference, 2008: 224-229.
[29]	LI S, JIA Z, LI K, et al. Fast online computation of a model predictive controller and its application to fuel economy–oriented adaptive cruise control[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(3): 1199-1209.
[30]	TUCHNER A, HADDAD J. Vehicle platoon formation using interpolating control: A laboratory experimental analysis[J]. Transportation Research Part C-Emerging Technologies, 2017, 84: 21-47.
[31]	HOFFMANN C, WERNER H. A survey of linear parameter-varying control applications validated by experiments or high-fidelity simulations[J]. IEEE Transactions on Control Systems and Technology, 2015, 23(2): 416-433.
[32]	SENAME O, GASPAR P, BOKOR J. Robust control and linear parameter varying approaches: application to vehicle dynamics[M]. Springer, 2013.
[33]	龚建伟, 姜岩, 徐威. 无人驾驶车辆模型预测控制[M]. 北京: 北京理工大学出版社, 2014. GONG Jianwei, JIANG Yan, XU Wei. Model predictive control for self-driving vehicles[J]. Beijing: Beijing Institute of Technology Press, 2014.
[34]	PANG H, ZHANG X, YANG J, et al. Adaptive backstepping-based control design for uncertain nonlinear active suspension system with input delay[J]. International Journal of Robust and Nonlinear Control, 2019, 29(16): 5781-5800.

Relative Articles

Supplements(0)

Cited By

Proportional views

Proportional views

Figures(14) / Tables(2)

Get Citation

PDF

XML

Article Metrics

Article views(68) PDF downloads(0)

Design and Validation of Trajectory Tracking Controller for Autonomous Vehicle Based on Linear Time-varying MPC Method

doi: 10.3901/JME.2022.24.264

Abstract

References

Proportional views

Catalog

Article Metrics

Proportional views

Related

Design and Validation of Trajectory Tracking Controller for Autonomous Vehicle Based on Linear Time-varying MPC Method

doi: 10.3901/JME.2022.24.264

Abstract

References

Proportional views

Catalog

Article Metrics

Proportional views

Related

Export File

Citation

Format

Content