A Two-Layer Controller for Lateral Path Tracking Control of Autonomous Vehicles

A Two-Layer Controller for Lateral Path Tracking Control of Autonomous Vehicles

This paper presents a two-layer controller for accurate and robust lateral path tracking control of highly automated vehicles. The upper-layer controller, which produces the front wheel steering angle, is implemented with a Linear Time-Varying MPC (LTV-MPC) whose prediction and control horizon are b...

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Bibliographic Details
Main Authors: Zhiwei He, Linzhen Nie, Zhishuai Yin, Song Huang
Format: Article
Language:English
Published: MDPI AG 2020-07-01
Series:Sensors
Subjects:
autonomous vehicle
lateral path tracking control
model predictive control
Online Access:https://www.mdpi.com/1424-8220/20/13/3689

Internet

https://www.mdpi.com/1424-8220/20/13/3689

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