Research on Trajectory Tracking Control of Driverless Vehicle Based on MPC

Yajun Han, Aishu Ding, Hongyu Ji, Qiang Wang, Yimo Wang

Abstract


In the vehicle-human-road traffic, the role of human is the most prominent. However, people often cause traffic accidents because of driving fatigue, drunk driving, driving experience, poor road conditions and other reasons, so people are the most likely to make mistakes in the driving environment. Research on intelligent driverless vehicles not only conforms to the current automotive development trend, but also enables people to get rid of the complex driving environment and reduce traffic safety risks. This thesis mainly studies the trajectory tracking of driverless vehicle.


Keywords


Driverless Vehicle; Trajectory Tracking; Model Predictive Control

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References


Wu SP. Path Following Control and Research of Driverless Vehicles based on Genetic Algorithm [D]. Jiangsu Institute of Technology, 2021.

Xie YP. Research on the Motion Control Strategy of Driverless Vehicles under Extreme Working Conditions [D]. Jiangsu University, 2021.

Sun HY. Research on Trajectory Tracking Control Method of Driverless Vehicle based on Sliding Mode Variable Structure [D]. Changchun University of Technology, 2021.




DOI: http://dx.doi.org/10.18686/esta.v9i3.239

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