Adaptive Model Predictive Control for Intelligent Vehicle Trajectory Tracking Considering Road Curvature

, Yin Gao; , Xudong Wang; , Jianlong Huang; , Lingcong Yuan

doi:2024.25.5.1051

International Journal of Automotive Technology > Volume 25(5); 2024 > Article

Fuels and Lubricants

International Journal of Automotive Technology 2024;25(5): 1051-1064.
doi: https://doi.org/10.1007/s12239-024-00086-8

Adaptive Model Predictive Control for Intelligent Vehicle Trajectory Tracking Considering Road Curvature

Yin Gao ^1,2, Xudong Wang ^1,2, Jianlong Huang ^1,2, Lingcong Yuan ^1,2

¹Chongqing Key Laboratory of Green Design and Manufacturing of Intelligent Equipment , Chongqing Technology and Business University
²School of Mechanical Engineering , Chongqing Technology and Business University

Corresponding Author. Xudong Wang , Email. wangxudong@ctbu.edu.cn

ABSTRACT

A parametric Adaptive Model Predictive Controller (AMPC) based on Particle Swarm Optimization-Back Propagation (PSO-BP) neural network has been developed in this paper, the primary focus is on improving the trajectory tracking performance of autonomous vehicles under varying road conditions. The PSO-BP neural network is employed for real-time adjustment of the controller's predictive horizon and sampling time. A vehicle dynamics model is established and an improved tracking control algorithm involving road curvature feedforward is proposed. In the design of AMPC, the real-time update of tire lateral stiffness is achieved through the adoption of the Recursive Least Squares (RLS) method, ensuring the precision of trajectory tracking for the vehicle under varying operating conditions. The simulation platform, which combines Carsim and Simulink, was employed for validating the proposed approach. The findings reveal that the proposed controller can promptly adjust the predictive horizon and sampling time according to the vehicle's state. Through the employed estimation strategy, real-time adjustments of tire lateral stiffness are achieved, allowing for dynamic alterations of vehicle speed and front wheel angle in response to road curvature. As a result, this approach significantly enhances control accuracy and lateral steering stability, especially in large curvature conditions.

Key Words: Autonomous vehicles, Adaptive Model Predictive Control (AMPC), Particle Swarm Optimization (PSO), Back Propagation (BP) neural network, Variable predictive horizon, Trajectory tracking