Online Active Set-Based Longitudinal and Lateral Model Predictive Tracking Control of Electric Autonomous Driving
Source abstract
Abstract
Autonomous driving is a breakthrough technology in the automobile and transportation fields. The characteristics of planned trajectories and tracking accuracy affect the development of autonomous driving technology. To improve the measurement accuracy of the vehicle state and realise the online application of predictive control algorithm, an online active set-based longitudinal and lateral model predictive tracking control method of autonomous driving is proposed for electric vehicles. Integrated with the vehicle inertial measurement unit (IMU) and global positioning system (GPS) information, a vehicle state estimator is designed based on an extended Kalman filter. Based on the 3-degree-of-freedom vehicle dynamics model and the curvilinear road coordinate system, the longitudinal and lateral errors dimensionality reduction is carried out. A fast-rolling optimisation algorithm for longitudinal and lateral tracking control of autonomous vehicles is designed and implemented based on convex optimisation, online active set theory and QP solver. Finally, the performance of the proposed tracking control method is verified in the reconstructed curve road scene based on real GPS data. The hardware-in-the-loop simulation results show that the proposed MPC controller has apparent advantages compared with the PID-based controller.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Vehicle Dynamics and Control Systems · Autonomous Vehicle Technology and Safety · Traffic control and management
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
Shenzhen Research Institute, Beijing Institute of Technology, Shenzhen 518057, China
References (27)
Show source-provided references
1. Anastasiadou, K., Gavanas, N., Pitsiava-Latinopoulou, M., and Bekiaris, E. (2021). Infrastructure Planning for Autonomous Electric Vehicles, Integrating Safety and Sustainability Aspects: A Multi-Criteria Analysis Approach. Energies, 14.10.3390/en14175269 ↗
2. Optimal electrification of off-grid smart homes considering flexible demand and vehicle-to-home capabilities10.1016/j.apenergy.2021.117184 ↗
3. Hoffmann, G.M., Tomlin, C.J., Montemerlo, M., and Thrun, S. (2007, January 9–13). Autonomous Automobile Trajectory Tracking for Off Road Driving: Controller Design, Experimental Validation and Racing. Proceedings of the 2007 American Control Conference, New York, NY, USA.10.1109/ACC.2007.4282788 ↗
4. Driver compatible steering system for wide speed range path following10.1109/TMECH.2004.834653 ↗
5. Netto, M., Blosseville, J., Lusetti, B., and Mammar, S. (2006, January 17–20). A new robust control system with optimized use of the lane detection data for vehicle full lateral control under strong curvatures. Proceedings of the 2006 IEEE Intelligent Transportation Systems Conference, Toronto, ON, Canada.10.1109/ITSC.2006.1707416 ↗
6. The energy saving simulation of suspension robot path tracking based on improved PID control
7. Coordinated Longitudinal and Lateral Motion Control of Vehicles for IVHS10.1115/1.1386395 ↗
8. Safe driving envelopes for path tracking in autonomous vehicles ScienceDirect10.1016/j.conengprac.2016.04.013 ↗
9. Neuroadaptive Combined Lateral and Longitudinal Control of Highway Vehicles Using RBF Networks10.1109/TITS.2006.883113 ↗
10. A Study on Lateral Control Method for the Path Tracking of Intelligent Vehicles
11. Robust H∞ output-feedback control for path following of autonomous ground vehicles
12. Combined Longitudinal and Lateral Control for Automated Lane Guidance of Full Drive by Wire Vehicles
13. Model predictive path following control for autonomous cars considering a measurable disturbance: Implementation, testing, and verification10.1016/j.ymssp.2018.08.028 ↗
14. Development of a Genetic-Algorithm-Based Nonlinear Model Predictive Control Scheme on Velocity and Steering of Autonomous Vehicles10.1109/TIE.2016.2585079 ↗
15. Fast Online Computation of a Model Predictive Controller and Its Application to Fuel Economy–Oriented Adaptive Cruise Control10.1109/TITS.2014.2354052 ↗
16. Sun, J. (2015). Research on Tracking Control Algorithm of Unmanned Vehicle Based on Model Predictive Control (in Chinese). [Master’s Thesis, Beijing Institute of Technology].
17. Wang, H. (2016). Research on Intelligent Vehicle Motion Control Based on Integrated Longitudinal and Lateral Control (in Chinese). [Master’s Thesis, Nanjing University of Aeronautics and Astronautics].
18. Path Tracking Using Linear Time-varying Model Predictive Control for Autonomous Vehicle
19. Implementation of MPC-Based Path Tracking for Autonomous Vehicles Considering Three Vehicle Dynamics Models with Different Fidelities10.1007/s42154-020-00118-w ↗
20. Formation Path Following Control of Multiple AUVs Based on Serret-Frenet Coordinate System
21. QpOASES: A parametric active-set algorithm for quadratic programming10.1007/s12532-014-0071-1 ↗
22. Forsgren, A., Gill, P.E., and Wong, E. (2015). Technical Report: Active-set methods for convex quadratic programming. Mathematics, Available online: http://www.optimization-online.org/DB_FILE/2015/03/4848.pdf.
23. An O(n3L) primal interior point algorithm for convex quadratic programming10.1007/BF01588795 ↗
24. Axehill, D., and Hansson, A. (2008, January 9–11). A dual gradient projection quadratic programming algorithm tailored for model predictive control. Proceedings of the IEEE Conference on Decision & Control, Cancun, Mexico.10.1109/CDC.2008.4738961 ↗
25. A Backward Error Analysis of a Null Space Algorithm in Sparse Quadratic Programming10.1137/S0895479800375977 ↗
26. Adaptive Potential Field Based Path Planning for Complex Autonomous Driving Scenarios10.1109/ACCESS.2020.3044909 ↗
27. Lu, B., He, H., Yu, H., Wang, H., Li, G., Shi, M., and Cao, D. (2020). Hybrid Path Planning Combining Potential Field with Sigmoid Curve for Autonomous Driving. Sensors, 20.10.3390/s20247197 ↗