Design of a tracking controller for autonomous articulated heavy vehicles using a nonlinear model predictive control technique

Author:

Sharma Tarun1,He Yuping1ORCID

Affiliation:

1. Department of Automotive and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, Canada

Abstract

This article proposes a design of a tracking controller for autonomous articulated heavy vehicles (AAHVs) using a nonlinear model predictive control (NLMPC) technique. Despite economic and environmental benefits in freight transportation, articulated heavy vehicles (AHVs) exhibit poor directional performance due to their large sizes, multi-unit vehicle configurations, and high centers of gravity (CGs). AHVs represent a 7.5 times higher risk of traffic accidents than single-unit vehicles (e.g. rigid trucks, cars, etc.) in highway operations. Human driver errors cause about 94% of traffic collisions. However, little attention has been paid to autonomous driving control of AHVs. To increase the safety of AHVs, we design a novel NLMPC-based tracking controller for an AHV, that is, a tractor/semi-trailer combination, and this tracking controller is distinguished from others with the feature of controlling both the lateral and longitudinal motions for both the leading and trailing units. To design the tracking controller, a new prediction AHV model is developed, which represents both the lateral and longitudinal dynamics of the vehicle and captures its rearward amplification feature over high-speed evasive maneuvers. With the proposed tracking controller, the AAHV tracks the predefined reference path and follows a planned forward-speed scheme. Co-simulation demonstrates the effectiveness and robustness of the proposed NLMPC tracking controller.

Publisher

SAGE Publications

Reference58 articles.

1. World Health Organization. Road traffic injuries. https://www.who.int/news-room/fact-sheets/detail/road-traffic-injuries (20 June 2022, accessed 19 June 2023).

2. Bosch ESP Systems: 5 Years of Experience

3. The intelligent copilot: A constraint-based approach to shared-adaptive control of ground vehicles

4. Standing Senate Committee on Transport and Communications. Driving change: Technology and the future of the automated vehicle. Report of the Standing Senate Committee on Transport and Communications, Senate, Ottawa, Ontario, Canada, https://sencanada.ca/content/sen/committee/421/TRCM/Reports/COM_RPT_TRCM_AutomatedVehicles_e.pdf (2018, accessed 12 July 2022).

5. Semiautonomous Vehicular Control Using Driver Modeling

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3