This paper investigates a practical event-triggered model predictive path following control for autonomous vehicles. Firstly, the discrete-time varying path following control model of autonomous vehicles is established. Subsequently, the distance-based event-triggered scheme, which shows a more practical meaning in path following of autonomous vehicles, is developed for the implementing MPC algorithm. In what follows, the distance-based event-triggered MPC scheme are designed for the path following of autonomous vehicles such that one can tradeoff between path following performance and calculation burden. At last, the experimental results conducted on the Simulink-Carsim platform show that the proposed method can be well reduce the calculation burden when implementing MPC algorithm.
A Practical Event-Triggered Model Predictive Path Following Control of Autonomous Vehicles
16.05.2025
549324 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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