ORCID Profile
0000-0002-7943-7461
Current Organisation
Southwest Jiaotong University
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Publisher: Informa UK Limited
Date: 2020
Publisher: Elsevier BV
Date: 04-2023
Publisher: Elsevier BV
Date: 10-2020
Publisher: Informa UK Limited
Date: 12-12-2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2021
Publisher: Frontiers Media SA
Date: 02-11-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2020
Publisher: Oxford University Press (OUP)
Date: 2023
DOI: 10.1093/ITI/LIAD009
Abstract: The paper proposes a coupled lateral and longitudinal trajectory tracking control algorithm based on model predictive control (MPC) to enhance the precision and stability of trajectory tracking of autonomous vehicles. The coupled MPC controller is developed based on a modified vehicle kinematics model, which simultaneously take the steering angle and the longitudinal speed as control variables. The modified vehicle model and the coupled MPC controller are verified by CarSim and MATLAB/Simulink co-simulation experiments. Simulation results demonstrate that, at the cost of 12% increase in average computational time, the proposed coupled MPC controller leads to an approximate 48% reduction in tracking error compared to the benchmarking coupled lateral and longitudinal MPC controller based on the classic kinematics model.
Location: No location found
No related grants have been discovered for Ang Ji.