Hierarchical control strategy of trajectory tracking for intelligent vehicle |
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Authors: | Qian Zhang Zhiyuan Liu |
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Institution: | 1.Department of Control Science and Engineering,Harbin Institute of Technology,Harbin,China |
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Abstract: | In order to track the desired trajectory for intelligent vehicle, a new hierarchical control strategy is presented. The control structure consists of two layers. The high-level controller adopts the model predictive control (MPC) to calculate the steering angle tracking the desired yaw angle and the lateral position. The low-level controller is designed as a gain-scheduling controller based on linear matrix inequalities. The desired longitudinal velocity and the yaw rate are tracked by the adjustment of each wheel torque. The simulation results via the high-fidelity vehicle dynamics simulation software veDYNA show that the proposed strategy has a good tracking performance and can guarantee the yaw stability of intelligent vehicle. |
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