A Two-Layer Controller for Lateral Path Tracking Control of Autonomous Vehicles

This paper presents a two-layer controller for accurate and robust lateral path tracking control of highly automated vehicles. The upper-layer controller, which produces the front wheel steering angle, is implemented with a Linear Time-Varying MPC (LTV-MPC) whose prediction and control horizon are b...

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Detalles Bibliográficos
Autores principales: He, Zhiwei, Nie, Linzhen, Yin, Zhishuai, Huang, Song
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374400/
https://www.ncbi.nlm.nih.gov/pubmed/32630197
http://dx.doi.org/10.3390/s20133689

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374400/
https://www.ncbi.nlm.nih.gov/pubmed/32630197
http://dx.doi.org/10.3390/s20133689

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