New control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers

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dc.contributor.authorAl-Jumaili, Mustafa Hamid
dc.contributor.authorÖzok, Yasa Ekşioğlu
dc.date.accessioned2024-09-02T06:38:39Z
dc.date.available2024-09-02T06:38:39Z
dc.date.issued2024en_US
dc.departmentEnstitüler, Lisansüstü Eğitim Enstitüsü, Elektrik ve Bilgisayar Mühendisliği Ana Bilim Dalıen_US
dc.description.abstractIn 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.en_US
dc.identifier.citationAl-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/s41598-024-69858-7en_US
dc.identifier.issn2045-2322
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85202183005
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://hdl.handle.net/20.500.12939/4812
dc.identifier.volume14en_US
dc.identifier.wosWOS:001299817400073
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.institutionauthorAl-Jumaili, Mustafa Hamid
dc.institutionauthorÖzok, Yasa Ekşioğlu
dc.language.isoen
dc.relation.ispartofScientific Reports
dc.relation.isversionof10.1038/s41598-024-69858-7en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - İdari Personel ve Öğrencien_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAutonomous vehicleen_US
dc.subjectMPCen_US
dc.subjectMPSen_US
dc.subjectModel predictive controlen_US
dc.subjectPath trackingen_US
dc.subjectStanley controlen_US
dc.titleNew control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers
dc.typeArticle

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