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Path Tracking Control of Intelligent Vehicle Based on Learning Model Predictive Control
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Hongmao Qin1, 2, Shu Jiang1, Tiantian Zhang1, Heping Xie1, 3, Yougang Bian1, 2, Yang Li1
Automotive Engineering | 2024, 46(10) : 1804 - 1815
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Automotive Engineering | 2024, 46(10): 1804-1815
• Feature Topic： Vehicle Dynamics and Control •
Path Tracking Control of Intelligent Vehicle Based on Learning Model Predictive Control
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Hongmao Qin1, 2, Shu Jiang1, Tiantian Zhang1, Heping Xie1, 3, Yougang Bian1, 2, Yang Li1
Affiliations
  • 1. College of Mechanical and Vehicle Engineering，Hunan University，State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle，Changsha 410082
  • 2. Wuxi Intelligent Control Research Institute of Hunan University，Wuxi 214115
  • 3. Xuzhou XCMG Mining Machinery Co. ，Ltd. ，Xuzhou 210009
Published: 2024-10-25 doi: 10.19562/j.chinasae.qcgc.2024.10.008
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Path tracking control is a key technology for intelligent vehicles. However，the existing vehicle tracking control methods mostly rely on more accurate vehicle control models，while actual vehicle control systems mostly have modeling errors，parameter perturbations and external disturbances，which significantly affect path tracking control accuracy. In this paper，a learning path tracking control method for intelligent vehicles considering unmodeled dynamics of vehicles is proposed. Firstly，a nominal model of the vehicle is established and a linear prediction model is used to approximate the compensation for the unmodeled dynamics of the vehicle to improve the accuracy of the vehicle model. Then，learning and updating of the parameters of the unmodeled dynamics are realized based on the principle of Extended Kalman Filtering. Next，learning Model Predictive Controller （LMPC） considering the unmodeled dynamics of the system is established. Finally，the effectiveness of the proposed method in improving the path tracking accuracy is verified by designing a joint simulation test with Carsim and Matlab/Simulink for multiple operating conditions and multiple groups.

intelligent vehicle  /  path tracking control  /  unmodeled dynamics  /  parameter learning  /  learning model predictive control
Hongmao Qin, Shu Jiang, Tiantian Zhang, Heping Xie, Yougang Bian, Yang Li. Path Tracking Control of Intelligent Vehicle Based on Learning Model Predictive Control[J]. Automotive Engineering, 2024 , 46 (10) : 1804 -1815 . DOI: 10.19562/j.chinasae.qcgc.2024.10.008
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Year 2024 volume 46 Issue 10
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Article Info
doi: 10.19562/j.chinasae.qcgc.2024.10.008
  • Receive Date：2024-05-11
  • Online Date：2025-07-21
  • Published：2024-10-25
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History
  • Received：2024-05-11
  • Revised：2024-06-12
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Affiliations
    1. College of Mechanical and Vehicle Engineering，Hunan University，State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle，Changsha 410082
    2. Wuxi Intelligent Control Research Institute of Hunan University，Wuxi 214115
    3. Xuzhou XCMG Mining Machinery Co. ，Ltd. ，Xuzhou 210009
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https://castjournals.cast.org.cn/joweb/qcygc/EN/10.19562/j.chinasae.qcgc.2024.10.008
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