In recent times, the use of autonomous vehicles has increased rapidly, especially in developed and developing countries. However, this increase also led to a rise in road accidents. This is because some controllers use in the control systems do not take into account the dynamic properties of the vehicle or not focusing on the dynamic stability such as roll stability which can affect overall vehicle stability. Therefore, a path tracking controller based on Model Predictive Control (MPC) was designed using a 3 degree-of-freedom (3 DOF) vehicle dynamic model. Additionally, an Integrated MPC controller is created where this is a combination of MPC and Proportional-Integral-Differential (PID) control to ensure the vehicle stability during path tracking. The performance of these controllers was evaluated through simulations in MATLAB/Simulink. This paper proposes a vehicle dynamic model using 3DOF and a powertrain model, utilizing controllers such as MPC controller, PID controller, and MPC-PID controller. The simulation begins with the testing of MPC and PID controllers separately, followed by testing the Integrated MPC-PID controller to assess their effectiveness in path tracking control. There are two scenarios used in these simulations which are the first scenario involves low vehicle speeds while the second scenario involves higher vehicle speeds. The study found that the MPC-PID controller managed to maintain the vehicle stability very well compared to other controllers at low speeds. However, in the second scenario, all controllers struggled to handle the vehicle properly, leading to roll instability especially when navigating curves.
Autonomous Vehicle Path Tracking Control Considering Yaw Stability
2024-11-08
1366656 byte
Conference paper
Electronic Resource
English
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