MPC-based Path Following Design for Automated Vehicles with Rear Wheel Steering
- Resource Type
- Conference
- Authors
- Yu, Chuanyang; Zheng, Yanggu; Shyrokau, Barys; Ivanov, Valentin
- Source
- 2021 IEEE International Conference on Mechatronics (ICM) Mechatronics (ICM), 2021 IEEE International Conference on. :1-6 Mar, 2021
- Subject
- Aerospace
Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
Robotics and Control Systems
Transportation
Mechatronics
Simulation
Wheels
Prediction algorithms
Tires
Vehicle dynamics
Predictive control
path following control
model predictive control
automated vehicle
rear wheel steering
simulation
- Language
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.