.png){kind=icon}
返回
Improved model predictive control trajectory-tracking algorithm with adaptive horizon
.png){kind=icon}
PRE
AI
DOI：10.1177/01423312251376751.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Aiming at the problems of poor tracking accuracy and low real-time performance of existing model predictive controllers for autonomous vehicles under high-curvature conditions, an Adaptive Horizon-Based Improved Model Predictive Control (AH-BMPC) method was proposed. In this method, the weight coefficient matrix of Model Predictive Control (MPC) is designed based on the block matrix strategy. Then, based on the lateral stability class errors and the lateral trajectory errors, the adaptive horizon system was constructed to realize the proposed method. Simulation results demonstrate that under speeds of 10m/s, 15m/s, and 17m/s, the proposed method achieves an average reduction of 42.54% in lateral trajectory error and 41.06% in heading angle error compared to the MPC method. In addition, the computational efficiency is improved by an average of 10.53%. In practical applications, lateral trajectory errors can be calculated based on navigation information, and lateral stability evaluation indicators can be obtained through vehicle body sensors. Thus, the AH-BMPC method can be deployed in applications.
Keyword:
Model predictive control
trajectory tracking
block matrix
clustering analysis
entropy weight matter-element extension analysis
期刊
IF:
1.9
论文数:
307
被引数:
4.2K
机构
引用论文
Development of an Adaptive and Weighted Model Predictive Control Algorithm for Autonomous Driving With Disturbance Estimation and Grey Prediction.png)
IEEE ACCESS
OAAI
IEEE ACCESSIF3.6
OAAI分享收藏Trajectory Tracking Control of an Intelligent Vehicle Based on T-S Fuzzy Variable Weight MPC基于T-S模糊变权MPC的智能车辆轨迹跟踪控制OAAI
OAAI分享收藏Fast Trajectory Tracking Control Algorithm for Autonomous Vehicles Based on the Alternating Direction Multiplier Method (ADMM) to the Receding Optimization of Model Predictive Control (MPC)基于交替方向乘子法 (ADMM) 到模型预测控制 (MPC) 滚动优化的自主车辆快速轨迹跟踪控制算法SENSORS
OAAI
SENSORSIF3.5
OAAI分享收藏Event-triggered nonlinear model predictive control for trajectory tracking of unmanned vehiclesProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile EngineeringIF0
PREAI
分享收藏Variable Weight Matter–Element Extension Model for the Stability Classification of Slope Rock MassMathematicsOAAI
MathematicsIF0
OAAI分享收藏Path-Tracking and Lateral Stabilization for Automated Vehicles via Learning-Based Robust Model Predictive Control基于学习的鲁棒模型预测控制的自动车辆路径跟踪和横向稳定
PREAI
分享收藏A Tube Model Predictive Control Method for Autonomous Lateral Vehicle Control Based on Sliding Mode Control基于滑模控制的自主横向车辆控制的管模型预测控制方法SENSORSOAAI
SENSORSIF3.5
OAAI分享收藏Fast Tube Model Predictive Control for Driverless Cars Using Linear Data-Driven Models基于线性数据驱动模型的无人驾驶汽车快速管模型预测控制OAAI
OAAI分享收藏
查看更多内容