New control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers
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Tarih
2024
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this paper, a robust control method is introduced for autonomous vehicle control in different scenarios. Dual controllers have been used in this method to ensure high performance and low errors during the vehicle's trip. The new control system is called Model Predictive and Stanley based controller (MPS), which is an integration of a model predictive controller and a Stanley controller. Each of these two controllers has its drawbacks and weaknesses. The proposed method tries to overcome these points and come up with a high-performance control system. This hybrid way of combining two of the famous controllers has the benefit of using the best part of each one and trying to enhance the other part. The MPS is tested for both path-following and vehicle control in different scenarios and on both straight and curved roads. This controller has shown high performance and flexibility to deal with different scenarios of autonomous driving. The results are compared to previous types of controllers, and the proposed system outperformed these types.
Açıklama
Anahtar Kelimeler
Autonomous vehicle, MPC, MPS, Model predictive control, Path tracking, Stanley control
Kaynak
Scientific Reports
WoS Q Değeri
Q1
Scopus Q Değeri
Q1
Cilt
14
Sayı
1
Künye
Al-Jumaili, M. H., Özok, Y. E. (2024). New control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers. Scientific Reports, 14(1). 10.1038/s41598-024-69858-7
