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A Model Predictive Tracking Control Study for Speed Trajectory of Autonomous Driving Trucks
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Jinghua Zhao1, 3, Qingjie Guan1, 2, Xiaoxue Liu1, Fangxi Xie3
Automobile Technology | 2024, (9) : 10 - 17
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Automobile Technology | 2024, (9): 10-17
A Model Predictive Tracking Control Study for Speed Trajectory of Autonomous Driving Trucks
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Jinghua Zhao1, 3, Qingjie Guan1, 2, Xiaoxue Liu1, Fangxi Xie3
Affiliations
  • 1 Jilin Normal University, Siping 136000
  • 2 Jilin Police College，Changchun 130123
  • 3 National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130022
Published: 2024-09-24 doi: 10.19620/j.cnki.1000-3703.20230950
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In order to prevent vehicle mass changes and road slope interfering with longitudinal speed of autonomous driving truck, this article utilizes an intelligent navigation system to obtain information including vehicle speed trajectory and road slope. Vehicle longitudinal dynamic model and Compressed Natural Gas (CNG) engine dynamic model are established, and a real-time Dynamic Programming (DP) speed trajectory tracking controller is designed based on the Model Predictive Control (MPC) framework. The simulation results under NEDC and WLTC operating conditions show that the controller can keep vehicle speed stable under conditions of truck mass change and road slope interference, and can optimize speed tracking error while reducing natural gas consumption.

Autonomous driving  /  Longitudinal speed control  /  Model Predictive Control (MPC)  /  Real-time Dynamic Programming (DP)  /  Road slope
Jinghua Zhao, Qingjie Guan, Xiaoxue Liu, Fangxi Xie. A Model Predictive Tracking Control Study for Speed Trajectory of Autonomous Driving Trucks[J]. Automobile Technology, 2024 , (9) : 10 -17 . DOI: 10.19620/j.cnki.1000-3703.20230950
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doi: 10.19620/j.cnki.1000-3703.20230950
  • Online Date：2025-12-22
  • Published：2024-09-24
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    1 Jilin Normal University, Siping 136000
    2 Jilin Police College，Changchun 130123
    3 National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130022
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小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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