In order to track the desired trajectory for intelligent vehicle, a new hierarchical control strategy
is presented. The control structure consists of two layers. The high-level controller adopts the model predictive
control (MPC) to calculate the steering angle tracking the desired yaw angle and the lateral position. The low-level
controller is designed as a gain-scheduling controller based on linear matrix inequalities. The desired longitudinal
velocity and the yaw rate are tracked by the adjustment of each wheel torque. The simulation results via the
high-fidelity vehicle dynamics simulation software veDYNA show that the proposed strategy has a good tracking
performance and can guarantee the yaw stability of intelligent vehicle.
ZHANG Qian* (张茜), LIU Zhiyuan (刘志远)
. Hierarchical Control Strategy of Trajectory Tracking for Intelligent Vehicle[J]. Journal of Shanghai Jiaotong University(Science), 2017
, 22(2)
: 224
-232
.
DOI: 10.1007/s12204-017-1825-5
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