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Hierarchical control strategy of trajectory tracking for intelligent vehicle

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Abstract

In order to track the desired trajectory for intelligent vehicle, a new hierarchical control strategy is presented. The control structure consists of two layers. The high-level controller adopts the model predictive control (MPC) to calculate the steering angle tracking the desired yaw angle and the lateral position. The low-level controller is designed as a gain-scheduling controller based on linear matrix inequalities. The desired longitudinal velocity and the yaw rate are tracked by the adjustment of each wheel torque. The simulation results via the high-fidelity vehicle dynamics simulation software veDYNA show that the proposed strategy has a good tracking performance and can guarantee the yaw stability of intelligent vehicle.

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Correspondence to Qian Zhang  (张 茜).

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Foundation item: China Automobile Industry Innovation and Development Joint Fund (No. U1564207)

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Zhang, Q., Liu, Z. Hierarchical control strategy of trajectory tracking for intelligent vehicle. J. Shanghai Jiaotong Univ. (Sci.) 22, 224–232 (2017). https://doi.org/10.1007/s12204-017-1825-5

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  • DOI: https://doi.org/10.1007/s12204-017-1825-5

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