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.
|Title of host publication||Proceedings of the IEEE International Conference on Mechatronics, ICM 2021|
|Place of Publication||Piscataway, NJ, USA|
|Number of pages||6|
|Publication status||Published - 2021|
|Event||2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan|
Duration: 7 Mar 2021 → 9 Mar 2021
|Conference||2021 IEEE International Conference on Mechatronics, ICM 2021|
|Period||7/03/21 → 9/03/21|
Bibliographical noteGreen 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.
- Automated vehicle
- Model predictive control
- Path following control
- Rear wheel steering