Double Arc Path Tracking Control of Driverless Vehicle Based on Time Delay Dynamic Prediction

2018 ◽  
Author(s):  
Yiqun Zou ◽  
Lu Li ◽  
Xiafei Tang ◽  
Jingtian Ye ◽  
Lingli Yu
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Path Tracking ◽  
Dynamic Prediction

scholarly journals Path tracking control based on tube MPC and time delay motion prediction

2020 ◽  
Vol 14 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Jiaxing Yu ◽  
Xuexun Guo ◽  
Xiaofei Pei ◽  
Zhenfu Chen ◽  
Wei Zhou ◽  
...  
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Path Tracking ◽  
Motion Prediction

scholarly journals Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Yiding Hua ◽  
Haobin Jiang ◽  
Yingfeng Cai ◽  
Xupei Zhang ◽  
Shidian Ma ◽  
...  
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Control Method ◽  
Simulation Analysis ◽  
Cloud Model ◽  
Kinematic Model ◽  
Path Tracking ◽  
Steering Control ◽  
Parking System ◽  
Automatic Parking

This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

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