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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2020
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| Materias: | |
| 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 |