MPC-based path following design for automated vehicles with rear wheel steering

Chuanyang Yu; Yanggu Zheng; Barys Shyrokau; Valentin Ivanov

doi:10.1109/ICM46511.2021.9385606

MPC-based path following design for automated vehicles with rear wheel steering

Chuanyang Yu, Yanggu Zheng, Barys Shyrokau, Valentin Ivanov^*

^*Corresponding author for this work

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

9 Citations (Scopus)

70 Downloads (Pure)

Abstract

Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model predictive control (NMPC) on a passenger vehicle with active RWS for path following. The controller was compared to two other variations of NMPC where the rear steering angle is proportional to the front or fixed to zero. Simulation results suggested that the proposed controller outperforms the other two variations and the baseline controllers (Stanley and LQR) in terms of accuracy and responsiveness.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Mechatronics, ICM 2021
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Number of pages	6
ISBN (Electronic)	978-1-7281-4442-9
DOIs	https://doi.org/10.1109/ICM46511.2021.9385606
Publication status	Published - 2021
Event	2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan Duration: 7 Mar 2021 → 9 Mar 2021

Conference

Conference	2021 IEEE International Conference on Mechatronics, ICM 2021
Country/Territory	Japan
City	Kashiwa
Period	7/03/21 → 9/03/21

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Automated vehicle
Model predictive control
Path following control
Rear wheel steering
Simulation

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10.1109/ICM46511.2021.9385606

09385606Final published version, 666 KB

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title = "MPC-based path following design for automated vehicles with rear wheel steering",

abstract = "Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model predictive control (NMPC) on a passenger vehicle with active RWS for path following. The controller was compared to two other variations of NMPC where the rear steering angle is proportional to the front or fixed to zero. Simulation results suggested that the proposed controller outperforms the other two variations and the baseline controllers (Stanley and LQR) in terms of accuracy and responsiveness.",

keywords = "Automated vehicle, Model predictive control, Path following control, Rear wheel steering, Simulation",

author = "Chuanyang Yu and Yanggu Zheng and Barys Shyrokau and Valentin Ivanov",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2021 IEEE International Conference on Mechatronics, ICM 2021 ; Conference date: 07-03-2021 Through 09-03-2021",

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language = "English",

booktitle = "Proceedings of the IEEE International Conference on Mechatronics, ICM 2021",

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Yu, C, Zheng, Y , Shyrokau, B & Ivanov, V 2021, MPC-based path following design for automated vehicles with rear wheel steering. in Proceedings of the IEEE International Conference on Mechatronics, ICM 2021., 9385606, IEEE , Piscataway, NJ, USA, 2021 IEEE International Conference on Mechatronics, ICM 2021, Kashiwa, Japan, 7/03/21. https://doi.org/10.1109/ICM46511.2021.9385606

MPC-based path following design for automated vehicles with rear wheel steering. / Yu, Chuanyang; Zheng, Yanggu ; Shyrokau, Barys et al.

Proceedings of the IEEE International Conference on Mechatronics, ICM 2021. Piscataway, NJ, USA : IEEE , 2021. 9385606.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - MPC-based path following design for automated vehicles with rear wheel steering

AU - Yu, Chuanyang

AU - Zheng, Yanggu

AU - Shyrokau, Barys

AU - Ivanov, Valentin

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2021

Y1 - 2021

N2 - Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model predictive control (NMPC) on a passenger vehicle with active RWS for path following. The controller was compared to two other variations of NMPC where the rear steering angle is proportional to the front or fixed to zero. Simulation results suggested that the proposed controller outperforms the other two variations and the baseline controllers (Stanley and LQR) in terms of accuracy and responsiveness.

AB - Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model predictive control (NMPC) on a passenger vehicle with active RWS for path following. The controller was compared to two other variations of NMPC where the rear steering angle is proportional to the front or fixed to zero. Simulation results suggested that the proposed controller outperforms the other two variations and the baseline controllers (Stanley and LQR) in terms of accuracy and responsiveness.

KW - Automated vehicle

KW - Model predictive control

KW - Path following control

KW - Rear wheel steering

KW - Simulation

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DO - 10.1109/ICM46511.2021.9385606

M3 - Conference contribution

AN - SCOPUS:85104118972

BT - Proceedings of the IEEE International Conference on Mechatronics, ICM 2021

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 2021 IEEE International Conference on Mechatronics, ICM 2021

Y2 - 7 March 2021 through 9 March 2021

ER -

MPC-based path following design for automated vehicles with rear wheel steering

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Keywords

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