The lateral control of the driverless vehicle is based on the steering angle of the front wheel as the control variable to track the desired trajectory. In this paper, a two-degree-of-freedom vehicle dynamics model is established. In order to reduce the amount of calculation, the original model is simplified accordingly. Then, a lateral controller based on model predictive control is designed, and the objective function is constructed and solved after its condition constraint. Finally, the joint simulation analysis of path position tracking and heading angle is carried out based on Carsim and Matlab / Simulink software. The simulation results show that the lateral controller can track the trajectory effectively.
Research on lateral controller of unmanned vehicle based on model predictive control
Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022) ; 2022 ; Guangzhou,China
Proc. SPIE ; 12302
2022-11-23
Conference paper
Electronic Resource
English
Research on lateral controller of unmanned vehicle based on model predictive control
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