In this paper, vehicle steering control following target trajectory by MPC (Model Predictive Control) is proposed. First, vehicle turning characteristic is modeled. Here, the model is mainly composed of vehicle rotation model and steering model. Next, MPC controller is derived from quadratic cost function. This controller instructs vehicle rotation radius directly translated into steering angle. It minimizes difference of the position between target trajectory and the predicted when their moving directions are equal. And finally the controller is verified with simulation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Vehicle steering control with MPC for target trajectory tracking of autonomous reverse parking


    Contributors:


    Publication date :

    2013-08-01


    Size :

    264180 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

    Shiuh-Jer Huang / Yu-Sheng Hsu | BASE | 2017

    Free access

    VEHICLE CONTROL SYSTEM WITH TARGET VEHICLE TRAJECTORY TRACKING

    JOHNSON NATHANIEL S / POWAR GAYATRI U | European Patent Office | 2017

    Free access

    Vehicle control system with target vehicle trajectory tracking

    JOHNSON NATHANIEL S / POWAR GAYATRI U | European Patent Office | 2019

    Free access

    Trajectory Planning and Tracking for Four-Wheel-Steering Autonomous Vehicle with V2V Communication

    Ma, Fangwu / Shen, Yucheng / Nie, Jiahong et al. | British Library Conference Proceedings | 2020


    Trajectory Planning and Tracking for Four-Wheel-Steering Autonomous Vehicle with V2V Communication

    Ma, Fangwu / Wu, Guanpu / Nie, Jiahong et al. | SAE Technical Papers | 2020