MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel
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MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel CHEN Shu-ping(陈舒平)1, XIONG Guang-ming(熊光明)1, CHEN Hui-yan(陈慧岩)1, NEGRUT Dan2 1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China; 2. Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA © Central South University Press and Springer-Verlag GmbH Germany, part of Springer Nature 2020 Abstract: In order to track the desired path as fast as possible, a novel autonomous vehicle path tracking based on model predictive control (MPC) and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits, in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit. Moreover, this scheme was further extended along one moving prediction window. In the MPC controller, the prediction model was an 8-degree-of-freedom (DOF) vehicle model, while the plant was a 14-DOF vehicle model. For lateral control, a sequence of optimal wheel steering angles was generated from the MPC controller; for longitudinal control, the total wheel torque was generated from the PID speed controller embedded in the MPC framework. The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory. The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller. Additionally, the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path. Key words: model predictive control; path tracking; minimum-time speed profile; vehicle dynamics; arbitrary path Cite this article as: CHEN Shu-ping, XIONG Guang-ming, CHEN Hui-yan, NEGRUT Dan. MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel [J]. Journal of Central South University, 2020, 27. DOI: https://doi.org/10.1007/s11771-020-4561-1.
1 Introduction With the rapid development of software and hardware on sensors, computers and control technology, autonomous vehicles have received significant progress during last decades. The time of daily commuters’ traversal and the improvement of traffic safety will be the benefit from automated driving [1, 2]. The motion control of self-driving vehicles can be divided into path planning and path tracking, in which the path planning generates the desired path (desired position and heading) using
data from the perception system, while the path tracking controller calculates the steering maneuvers to guide the vehicle following the reference path [3, 4]. In the literature concerning path planning, many researches have been dedicated to feasible and efficient methods for path planning. Early research
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