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"Real-time integrated path tracking control using input dimensionality-" by Guodong Wang, Li Liu et al.

The integrated path tracking control (PTC) of steering and braking is crucial for enhancing the stability of autonomous vehicles under extreme conditions. In the present study, a control input dimensionality-reducing method and an asynchronous sampling method are presented to address the problem of the high computational cost of the steering and braking integrated path tracking controller (PTCer) based on model predictive control (MPC). First, based on tire friction limit and tire force utilization, the control input dimensionality-reducing method is designed and a vehicle model with reduced dimensionality of control input is derived. Second, the rolling iteration mechanism of MPC is analyzed and a variable-scale asynchronous sampling method between the control loop and prediction horizon is designed with the control horizon as the boundary. Finally, the integrated MPC-PTCer based on control input dimensionality-reducing and asynchronous sampling is designed. The real-time performance ....

Autonomous Vehicle , Ntegrated Path Tracking Control , Model Predictive Control , Onlinear Vehicle Dynamics , Real Time Performance ,

"Integrated path tracking control based on the dimension reduction mode" by Guodong Wang, Haiping Du et al.

In limit conditions, autonomous vehicles face the risk of lateral instability. The integrated control of steering and braking, an important measure for improving the stability of autonomous vehicles, has been extensively studied. A novel steering and braking integrated model predictive path tracking control (PTC) based on a dimension reduction model is proposed in this study. This method aims at the dilemma of the real-time limitation of the current integrated model predictive PTC based on nonlinear vehicle dynamics in practical applications and the unsatisfactory control effect of the integrated model predictive PTC based on the linearised vehicle dynamics in limit conditions. The core concept of this study is to reduce the input dimension of the integrated controller model by designing a model dimension reduction method, thereby reducing the decision variables of the optimisation problem and improving the real-time performance. The model dimension reduction method is designed based o ....

Autonomous Vehicle , Integrated Control , Model Predictive Control , Onlinear Vehicle Dynamics , Ath Tracking Control , Real Time , Vehicle Stability ,