Volume 9: Sustainable Energy Solutions for Changing the World: Part I

MPC-based lateral control algorithm for bus path following control Mo Han, Hongwen He, Jianfei Cao, Man Shi

Abstract

The route of buses is relatively fixed compared with private vehicles. This characteristic provides a suitable scenario for path following control. The purpose of path following control is to control the steering system of the vehicle to track the desired trajectory curve while satisfying performance such as safety and energy consumption. Model predictive control (MPC) method is used in this paper for vehicle lateral control. Preview is used to reduce the track error. The vehicle kinematic model is established as predictive model. The path following problem is described as a quadratic programming (QP) problem that can be solved in real-time situations. Simulations on Matlab/Simulink

Keywords Model predictive control, vehicle lateral control, path following, quadratic programming, electric bus