Browse Publications Technical Papers 2019-01-1017
2019-04-02

Path Tracking for Autonomous Vehicles Based on Nonlinear Model: Predictive Control Method 2019-01-1017

Path planning and tracking are two important means for autonomous vehicle in obstacle avoidance in the last decade. In this study, the reference path is planned on the basis of the sigmoid function which represents the driver’s intent in accordance with obstacle information. Meanwhile, a nonlinear model predictive controller for path tracking of autonomous vehicles is proposed. The proposed controller drives vehicle to track the reference path by controlling the front steering angle and braking torques of four wheels. Computer simulation based on CarSim and MATLAB/Simulink was performed to verify the feasibility and effectiveness of the controller.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
JOURNAL ARTICLE

Guided Integrated Remote and Workshop Troubleshooting of Heavy Trucks

2014-01-0284

View Details

TECHNICAL PAPER

Improving Subjective Assessment of Vehicle Dynamics Evaluations by means of Computer-Tablets as Digital Aid

2016-01-1629

View Details

TECHNICAL PAPER

A Model-Based Mass Estimation and Optimal Braking Force Distribution Algorithm of Tractor and Semi-Trailer Combination

2013-01-0418

View Details

X