Research on MPC Path-Tracking Control Algorithm Based on the Generalized-Dynamics Model of “Steering Robot-Controlled Vehicle”
Source abstract
Abstract
We propose an integrated model predictive control (MPC) scheme for steering-robot path tracking that directly optimizes the robot voltage and embeds steering-angle limits as linear-inequality voltage constraints inside the optimizer. This avoids cascade-induced error accumulation and extra phase lag in MPC+PID while guaranteeing actuator-level feasibility. A Simulink–CarSim co-simulation evaluates two scenarios: (1) double-lane change (DLC) at 70/40 km·h−1; and (2) straight-line tracking with/without sinusoidal crosswind modeled as an equivalent lateral force. Metrics include lateral-error RMS/Peak/P95 and real-time statistics (WCET, average per-update time, and utilization rate). The results show consistent gains: at 70 km·h−1, RMS/Peak/P95 decrease by 22.3%/18.0%/17.7%; and, at 40 km·h−1, by 17.0%/19.5%/18.9%. Real-time feasibility is met with T = 10 ms, average ≈ 1.7 ms, WCET ≈ 2.1~2.3 ms, utilization ratio ≈ 0.17. Under crosswind, robustness improves over the cascaded baseline by 9.7%/35.6%/30.8% on RMS/Peak/P95. The method provides tighter tracking, stronger disturbance rejection, and strict timing for safety-critical testing.
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
Institute of Automotive Engineering, Jiangsu University, Zhenjiang 212013, China
Shenyang Shenda Connected Vehicle Collaborative Innovation Center Co., Ltd., Shenyang 110044, China
Funding
National Key Research and Development Program of China · National Natural Science Foundation of China · Project of Faculty of Agricultural Equipment of Jiangsu University · Liaoning Province’s unveiling and leading project
References (25)
Show source-provided references
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