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

Chuanyang Yu, Yanggu Zheng, Barys Shyrokau, Valentin Ivanov

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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 languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Mechatronics, ICM 2021
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-7281-4442-9
DOIs
Publication statusPublished - 2021
Event2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan
Duration: 7 Mar 20219 Mar 2021

Conference

Conference2021 IEEE International Conference on Mechatronics, ICM 2021
CountryJapan
CityKashiwa
Period7/03/219/03/21

Keywords

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

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