Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Abstract

How to improve the velocity tracking accuracy is a core and difficult problem in autonomous driving, especially while some core parameters of the controlled vehicle cannot be measured or obtained accurately enough. Without employing a complex longitudinal dynamic model and some difficultly obtained engine parameters, a numerical reasonable model is established based on the off-line data of the vehicle motion. And based on this model, a feed-forward and feedback control scheme is presented and a parameter-varying controller with high robustness is designed. To verify the tracking performance, the electric vehicle model in Matlab2018b is used in the simulating process and results conclude that the new control strategy is very effective. INDEX TERMS Velocity tracking, numerical reasonable model, autonomous vehicle.

Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking

“…In longitudinal motion control of AMRs, velocity-tracking control is in favor of the autonomous driving [ 11 ]. In [ 12 ], a parameter-varying controller was designed for velocity tracking, which showed high robustness. In [ 13 ], the MPC method was used for velocity-tracking controller design, which could recover the braking energy with brake torque allocation.…”