2024
DOI: 10.3390/wevj15090428
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Optimal Control Problem Path Tracking of an Intelligent Vehicle

Yingjie Liu,
Dawei Cui

Abstract: Aiming at the problem of multiple constraints and low solving efficiency in the process of vehicle path tracking, an improved hp-adaptive Radau pseudospectral method (I-hp-ARPM) which uses a double-layer optimization iteration strategy and the residual of differential algebraic constraints at sampling points with a Gaussian distribution as the error evaluation criterion is proposed. Firstly, a four-DOF vehicle motion model is established. Secondly, on the basis of establishing algebraic differential constraint… Show more

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