Sep 2026· Journal of the Brazilian Society of Mechanical Sciences and Engineering· Vol 48· 0 citations· 32 references
TL;DR
An adaptive MPC-based lateral path-tracking strategy with a speed-scheduled prediction horizon, in which the longitudinal speed is treated as a measurable time-varying parameter, is proposed.
This work introduces a Model Predictive Control (MPC) path tracking controller, which is developed to boost robustness, tracking precision, and vehicle stability when navigating high-speed and high-curvature driving scenarios. First, a 3-degree-of-freedom (3-DOF) dynamic model of the vehicle is established to serve as...
Hanzhengnan Yu, Xiao-Yi Hou, Hao Zhang et al.· SAE technical paper series· 0 citations
This paper addresses the lateral path tracking problem for autonomous vehicles operating over a wide speed range by proposing a speed-adaptive horizon model predictive control (SAH-MPC) strategy. Unlike conventional fixed-horizon MPC, the proposed approach schedules both the prediction horizon Np and the control horizo...
To overcome the limitations of conventional model predictive control (MPC) for trajectory tracking of distributed-drive four-wheel-steering (4WS) vehicles, particularly its fixed weighting matrices and prediction and control horizons, this study investigates the integrated trajectory tracking and stability control of a...
Hao Zhang, Gang Li, Jingxue Zhang et al.· World Electric Vehicle Journ...· 0 citations
In this paper, a trajectory tracking control strategy is investigated for unmanned vehicles operating on structured urban roads under multiple constraints. A hierarchical control framework is developed to coordinate lateral steering and longitudinal velocity for accurate trajectory tracking. For the lateral layer, a no...
Ya-Dong Shen, Jing-Jing Yan, Li-Xiang Shi et al.· Vehicles· 0 citations
Distributed-drive autonomous electric vehicles have significant potential to enhance vehicle safety and efficiency through their superior control flexibility. However, their over-actuation inevitably increases control complexity, making it challenging to balance high-precision tracking, handling stability, and energy e...
This paper reviews Adaptive Model Predictive Control (AMPC) methods for Autonomous Vehicles (AVs), focusing on control strategies that dynamically adapt to uncertainties and changing conditions in real-time. The critical role of Adaptive Model Predictive Control (AMPC) in addressing the challenges of autonomous vehicle...
Chetana Gadgil, Mahendra Singh Tomar· 0 citations
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