Robust Tube-Based Model Predictive Control for Lane Change Maneuver of Tractor-Trailer Vehicles Based on a Polynomial Trajectory

2020 ◽  
Vol 50 (12) ◽  
pp. 5180-5188 ◽  
Author(s):  
Ming Yue ◽  
Xiaoqiang Hou ◽  
Xudong Zhao ◽  
Xiangmin Wu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Lane Change

Scenario Model Predictive Control for Lane Change Assistance and Autonomous Driving on Highways

2017 ◽  
Vol 9 (3) ◽  
pp. 23-35 ◽  
Author(s):  
Gianluca Cesari ◽  
Georg Schildbach ◽  
Ashwin Carvalho ◽  
Francesco Borrelli
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Driving ◽  
Lane Change ◽  
Scenario Model

scholarly journals Model predictive control–based cooperative lane change strategy for improving traffic flow

2016 ◽  
Vol 8 (2) ◽  
pp. 168781401663299 ◽  
Author(s):  
Di Wang ◽  
Manjiang Hu ◽  
Yunpeng Wang ◽  
Jianqiang Wang ◽  
Hongmao Qin ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Traffic Flow ◽  
Predictive Control ◽  
Lane Change ◽  
Change Strategy

scholarly journals Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

2020 ◽  
Author(s):  
Kai Yang ◽  
Xiaolin TANG ◽  
Yechen Qin ◽  
Yanjun Huang ◽  
Hong Wang ◽  
...  
Keyword(s):  
Feedback Control ◽  
Model Predictive Control ◽  
Comparative Study ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
State Feedback ◽  
Maximum Velocity ◽  
State Feedback Control ◽  
Lane Change ◽  
Double Lane Change

Abstract A comparative study of model predictive control (MPC) schemes and robust A state feedback control (RSC) method for trajectory tracking, is proposed in this paper. Both MPC-based and RSC-based tracking controllers are designed on the basis of a 3-DOF vehicle model, including longitudinal, lateral and yaw motions. The main objective of this paper is to compare both controllers’ performance in tracking expected trajectory under different scenarios. Therefore, three cases, namely, verification test, double lane change test and curve test, were built in Carsim-Simulink joint platform. The simulation results indicate that MPC controller performed better in terms of accuracy and responding time under well driving conditions. However, in the test of double lane change manoeuvre where the road adhesion was set as 0.2, the maximum velocity RSC can execute was 14m/s, while that for MPC was 10m/s. In addition, in the curve test, the maximum velocity MPC can carry out was only 9m/s and that for RSC was 12m/s. In conclusion, RSC was robust and stable when the driving conditions was worse, while MPC was prone to be unstable.

Lane change steering manoeuvre using model predictive control theory

2008 ◽  
Vol 46 (sup1) ◽  
pp. 669-681 ◽  
Author(s):  
Hidehisa Yoshida ◽  
Shuntaro Shinohara ◽  
Masao Nagai
Keyword(s):  
Control Theory ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Lane Change
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