On Road Vehicle Breakdown Assistance Finder Project A Model Predictive Controller with Switched Tracking Error for Autonomous Vehicle Path Tracking Autonomous vehicle path tracking accuracy and vehicle stability can hardly be accomplished by one fixed control frame in various conditions due to the changing vehicle dynamics. This paper presents a model predictive control (MPC) path tracking controller with switched tracking error, which reduces the lateral tracking deviation and maintains vehicle stability for both normal and high speed conditions. The design begins by comparing the performance of three MPC controllers with different tracking error . The analyzing results indicate that in the steady-state condition the controller with the velocity heading deviation as the tracking error significantly improves the tracking accuracy. Meanwhile, in the transient condition, by substituting the steady-state side...
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