Journal of Shanghai Jiao Tong University ›› 2016, Vol. 50 ›› Issue (03): 401-406.

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Generalized Predictive Control Based on Vehicle Path Following Strategy by Using Active Steering System

CAO Yang,HE Dengbo,YU Fan,LUO Zhe   

  1. (State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2015-03-24 Online:2016-03-28 Published:2016-03-28

Abstract: Abstract: In order to improve the lane tracking capability of vehicles under disturbances, an active steering system based on generalized predictive controller was proposed, of which a controlled autoregressive integrated movingaverage model (CARIMA) was used as the inner model. Considering the complexity and uncertainty of vehicle parametric modeling process, a recursive least square method was applied to estimate the parameters in the CARIMA model. The controller used the deviation between the vehicle lateral position and desired lateral positon as the input and steering wheel angle as the output. Based on driver steering wheel input, the final corrected steering wheel angle was obtained. The performances of the controller were examined in the SimulinkCarSim environment under strong lateral wind condition in standard doublelanechange operating experiment.

Key words: Key words: active steering, lane keeping, path following, generalized predictive control

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