A model predictive speed tracking control approach for autonomous ground vehicles

作者：Zhu, Min; Chen, Huiyan^*; Xiong, Guangming

来源：Mechanical Systems and Signal Processing, 2017, 87: 138-152.

DOI：10.1016/j.ymssp.2016.03.003

• Speed tracking
• Speed control
• Autonomous ground vehicles
• Model predictive control
• Real-time optimization

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

• 出版日期2017-3-15
• 单位北京理工大学