Keywords
Model Predictive Control, autonomous vehicle, vehicle dynamics, vehicle control. Điều khiển dự báo, phương tiện tự hành, động lực học phương tiện, điều khiển phương tiện.
How to Cite
TRẦN THÀNH, L., ĐỖ VĂN, T., NGUYỄN SĨ, ĐỈNH, & LÃ QUỐC, T. (2022). RESEARCH AND BUILDING A AUTONOMOUS VEHICLES CONTROL STRATEGY BY APPLICATION OF MODEL PREDICTIVE CONTROL (MPC). Journal of Marine Science and Technology, 10(10), 357–362. Retrieved from http://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/213
Abstract
This paper presents the theoretical basis of the Model Predictive Control (MPC). Research to establish the control algorithm, the physical diagram of the autopilot system, as well as the equivalent system of dynamic equations of the vehicle. Matlab - Simulink software is applied to simulate and evaluate research results when self-driving cars change lanes. Evaluation parameters are horizontal trajectory, steering wheel and yaw angle of the vehicle. In addition, the main results of the study are also used to compare the performance of standard and adaptive MPC controllers.