小型前輪操舵車両を用いた加速度の制約を考慮したモデル予測経路追従制御

For front wheel steering vehicles, path-following controller consisting of guidance control and motion control has been proposed. In this method, target accelerations are calculated in guidance control; then the control inputs are calculated in motion control using vehicle dynamics and tire-model with saturation characteristic. However, the limitation of force that the vehicle can generate is not considered when the target accelerations are calculated. In the proposed method, we use model predictive control in order to consider maximum accelerations that the vehicle can generate. Thus, the control inputs satisfy the constraint of the limitation of the force. In this paper, the efficacy of the proposed method is verified through the comparison with a conventional method in path following simulations.