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LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties

This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure co...

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Detalles Bibliográficos
Autores principales: Yuan, Tengfei, Zhao, Rongchen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9331098/
https://www.ncbi.nlm.nih.gov/pubmed/35898060
http://dx.doi.org/10.3390/s22155556
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author Yuan, Tengfei
Zhao, Rongchen
author_facet Yuan, Tengfei
Zhao, Rongchen
author_sort Yuan, Tengfei
collection PubMed
description This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure composed of upper and lower-level controllers. In the upper-level controller, the linear quadratic regulator (LQR) controller is designed to compute the desired front wheel steering angle for minimizing the lateral tracking deviation, and the model-predictive controller is developed to compute the desired acceleration for maintaining the planed vehicle speed. The lower-level controller enables the achievement of the desired steering angle and acceleration via the corresponding component devices. Furthermore, an observer based on the Extended Kalman Filter (EKF) is proposed to update the vehicle driving states, which are sensitive to the trajectory-tracking control and difficult to measure directly using the existing vehicle sensors. Finally, the Co-simulation (CarSim-MATLAB/Simulink) results demonstrate that the proposed coupling controller is able to robustly realize the trajectory tracking control and can effectively reduce the lateral tracking error.
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spelling pubmed-93310982022-07-29 LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties Yuan, Tengfei Zhao, Rongchen Sensors (Basel) Article This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure composed of upper and lower-level controllers. In the upper-level controller, the linear quadratic regulator (LQR) controller is designed to compute the desired front wheel steering angle for minimizing the lateral tracking deviation, and the model-predictive controller is developed to compute the desired acceleration for maintaining the planed vehicle speed. The lower-level controller enables the achievement of the desired steering angle and acceleration via the corresponding component devices. Furthermore, an observer based on the Extended Kalman Filter (EKF) is proposed to update the vehicle driving states, which are sensitive to the trajectory-tracking control and difficult to measure directly using the existing vehicle sensors. Finally, the Co-simulation (CarSim-MATLAB/Simulink) results demonstrate that the proposed coupling controller is able to robustly realize the trajectory tracking control and can effectively reduce the lateral tracking error. MDPI 2022-07-25 /pmc/articles/PMC9331098/ /pubmed/35898060 http://dx.doi.org/10.3390/s22155556 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yuan, Tengfei
Zhao, Rongchen
LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties
title LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties
title_full LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties
title_fullStr LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties
title_full_unstemmed LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties
title_short LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties
title_sort lqr-mpc-based trajectory-tracking controller of autonomous vehicle subject to coupling effects and driving state uncertainties
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9331098/
https://www.ncbi.nlm.nih.gov/pubmed/35898060
http://dx.doi.org/10.3390/s22155556
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