Haibing Guo
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Haibing Guo has a total of 4 co-authors. Here are the top co-authors by number of shared publications:
- Dayi Qu
School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao 266525, China
1 shared publication - Hui Song
School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao 266520, China
1 shared publication - Kekun Zhang
School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, China
1 shared publication - Tao Wang
School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao 266520, China
1 shared publication
Latest Publications
- Open Access
- 15 October 2022
- Published by MDPI AG in Sustainability
- Vol. 14 (20) , 13272
Lane-Changing Trajectory Tracking and Simulation of Autonomous Vehicles Based on Model Predictive Control
In order to realize the lane-changing maneuver of Connected Autonomous Vehicles (CAV), a lateral controller based on model predictive control is developed with the three degrees of freedom vehicle dynamic model. Then the controller is synthesized to track the reference trajectory fitted by the quintic Bézier curve. The controller is validated by MATLAB/CarSim under different road adhesion conditions and driving speeds. Results show that for different road adhesion conditions and driving speeds, the controller does not need to adjust the control parameters and can continuously correct the deviation from the expected trajectory. During the tracking process, the front wheel angle, front wheel angle increment, centroid side deflection angle, and front wheel side deflection angle are kept within the limited constraint range. The established control algorithm has good control robustness and tracking driving stability. The research can provide a theoretical basis and technical support for lane-changing safety and control of CAV.
- 15 October 2022
- Published by MDPI AG in Sustainability
- Vol. 14 (20) , 13272
Open AccessLane-Changing Trajectory Tracking and Simulation of Autonomous Vehicles Based on Model Predictive Control
In order to realize the lane-changing maneuver of Connected Autonomous Vehicles (CAV), a lateral controller based on model predictive control is developed with the three degrees of freedom vehicle dynamic model. Then the controller is synthesized to track the reference trajectory fitted by the quintic Bézier curve. The controller is validated by MATLAB/CarSim under different road adhesion conditions and driving speeds. Results show that for different road adhesion conditions and driving speeds, the controller does not need to adjust the control parameters and can continuously correct the deviation from the expected trajectory. During the tracking process, the front wheel angle, front wheel angle increment, centroid side deflection angle, and front wheel side deflection angle are kept within the limited constraint range. The established control algorithm has good control robustness and tracking driving stability. The research can provide a theoretical basis and technical support for lane-changing safety and control of CAV.