Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(9): 2782-2796

https://doi.org/10.1007/s12555-022-0326-y

© The International Journal of Control, Automation, and Systems

Simultaneous Stability and Path Following Control for 4WIS4WID Autonomous Vehicles Based on Computationally Efficient Offset Free MPC

Linhe Ge, Yang Zhao*, Shouren Zhong, Zitong Shan, Fangwu Ma, Zhiwu Han, and Konghui Guo

Jilin University

Abstract

The steady-state error problem of autonomous vehicle MPC-based motion control has not been effectively solved for a long time. This problem is more serious for lateral and longitudinal coupling control problems of vehicles with over-actuated configurations. Based on our newly designed general offset-free MPC (OF-MPC) solver and the TMeasy tire model, a steady-state error free control strategy for simultaneous stability and path following control of four-wheel steering and four-wheel drive vehicles is proposed. OF-MPC uses the disturbances term to describe the model mismatch and external disturbances, then uses the Kalman filter to observe the disturbances, and finally considers the disturbances in the optimization stage to realize the control without steady-state error. Realtime simulation results show that OF-MPC can solve model mismatch and external disturbances problems, and the steady-state error free control is realized. The simulation results of the double lane change maneuver show that the OF-MPC dynamic control performance is also better than the traditional MPC (TRA-MPC), which is more obvious when the vehicle is at the stability boundary and under various constant or time-varying disturbances. Regardless of the dimensions and complex constraints of this problem, real-time performance is still guaranteed, thanks to the proposed OF-MPC. When the horizon length is 100, the average time consumption is only about 15 milliseconds.

Keywords Offset free model predictive control, path tracking, quadratic programming, vehicle stability control.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(9): 2782-2796

Published online September 1, 2023 https://doi.org/10.1007/s12555-022-0326-y

Copyright © The International Journal of Control, Automation, and Systems.

Simultaneous Stability and Path Following Control for 4WIS4WID Autonomous Vehicles Based on Computationally Efficient Offset Free MPC

Linhe Ge, Yang Zhao*, Shouren Zhong, Zitong Shan, Fangwu Ma, Zhiwu Han, and Konghui Guo

Jilin University

Abstract

The steady-state error problem of autonomous vehicle MPC-based motion control has not been effectively solved for a long time. This problem is more serious for lateral and longitudinal coupling control problems of vehicles with over-actuated configurations. Based on our newly designed general offset-free MPC (OF-MPC) solver and the TMeasy tire model, a steady-state error free control strategy for simultaneous stability and path following control of four-wheel steering and four-wheel drive vehicles is proposed. OF-MPC uses the disturbances term to describe the model mismatch and external disturbances, then uses the Kalman filter to observe the disturbances, and finally considers the disturbances in the optimization stage to realize the control without steady-state error. Realtime simulation results show that OF-MPC can solve model mismatch and external disturbances problems, and the steady-state error free control is realized. The simulation results of the double lane change maneuver show that the OF-MPC dynamic control performance is also better than the traditional MPC (TRA-MPC), which is more obvious when the vehicle is at the stability boundary and under various constant or time-varying disturbances. Regardless of the dimensions and complex constraints of this problem, real-time performance is still guaranteed, thanks to the proposed OF-MPC. When the horizon length is 100, the average time consumption is only about 15 milliseconds.

Keywords: Offset free model predictive control, path tracking, quadratic programming, vehicle stability control.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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