Abstract
The work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of weight parameter and target speed on the performance of the tracking controller. Two sets of test cases are proposed to make the experimental comparison, see the relationship between the control parameters and road conditions (different curvature path), and also see how the weight parameters Q and R and sample time affect the tracking performance. Our work, MPC controller utilization in a roundabout, plays an essential role with the increasing autonomy of vehicles.
Highlights
Introduction and MotivationCitation: Cao, H.; Zoldy, M
The model predictive controller performance is validated through coding in MATLAB 2017b, and the quadratic programming problem is run by MATLAB
An model predictive control (MPC) controller is designed for path tracking purposes, and it is Invalidated this work, an proposed
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Demonstrating the good tracking ability of NMPC, the authors presented their work as [1], which utilized lateral driving behavior with an NMPC controller This method was transformed through a linear time-varying (LTV) MPC to control different constraints and vehicle conditions. The paper [10] studied steering behavior with the road surface conditions, used tire parameters as variables, and estimated the initial tire-force curve slope by the NMPC control method In this case, the nonlinear tire curve was fully adapted by the proposed NMPC controller, leading the vehicle into a stable and well-adapted driving level. Our research is based on the roundabout global planner, which has been built to test the vehicle trajectory-tracking performance.
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