2021 Summer

Model Predictive Control for Path Tracking of

Autonomous Vehicle

2021.7.20

Bilal Sadiq
Department of Robotics Engineering
Daegu Gyeongbuk Institute of Science and Technology (DGIST)

Bilal Sadiq – bilalsadiq@dgist.ac.kr 1

 Agenda

  To explain why I am unable to get “proper responses “ specially in terms of vehicle side slip
angle and front steering angle

 Though my responses are fair enough but lacks the practical variables when made to some
reference for justification of controller approach
 Fair enough in senses than, the controller stabilizes the vehicle model well
 Tracks the reference path for double lane change maneuver
 It shows reasonable front steering response

 Tire longitudinal and lateral forces depends on the

 Slip ratio
 Road friction coefficient
 Tire slip angle

 From dynamic model we can see that if affects the vehicle velocity (lateral) and longitudinal
,thus affects the “vehicle side slip angle “ and “ front wheel steering angle”

Bilal Sadiq – bilalsadiq@dgist.ac.kr 2

0. Responses Comparison
 My Output  Reference Output

From Fen Lin et.al

Bilal Sadiq – bilalsadiq@dgist.ac.kr 3

1. The dynamic Model of Bicycle
 Adopted from “Path tracking control for Autonomous Vehicle based on Improved MPC,
by Hangyan wang et,al

 Longitudinal dynamics :
 
Lateral dynamics :
 Yaw(rotational) dynamics :

 In addition ,the other forces which are very essential comes from the “tire”.

 In order to solve the lateral and longitudinal forces on tire, (most widely used) Pacejka tire
model is applied ( in many research work)

 When (linearized ,tire model based on small slip ratios of tire ) a simplified linearized
form of longitudinal and lateral forces in the tire model are:
𝐹
  𝑙𝑓 =𝐶 𝑙𝑓 𝑠 𝑓 𝐹
  𝑐𝑓 =𝐶 𝑐𝑓 𝛼 𝑓
𝐹
  𝑙𝑟 =𝐶 𝑙𝑟 𝑠𝑟 𝐹
  𝑐𝑟 =𝐶 𝑐𝑟 𝛼 𝑟

Bilal Sadiq – bilalsadiq@dgist.ac.kr 4

 1. The dynamic Model of Bicycle
 From the geometry we further derived
  =tan −1 𝑣 𝑐𝑓   = tan − 1 𝑣 𝑐𝑟
𝛼 𝑓 ( )
𝑣 𝑐𝑟
𝛼 𝑟 ( )𝑣 𝑐𝑓

 Where

 𝑣 𝑐𝑓 ˙ ) ∗ 𝑐𝑜𝑠 𝛿 𝑓 − 𝑥˙ 𝑠𝑖𝑛 𝛿 𝑓
=( ˙𝑦 +𝑙 𝑓 𝜑
 𝑣 𝑙𝑓 = ( ˙ ) ∗ 𝑠𝑖𝑛 𝛿 𝑓 + 𝑥˙ 𝑐𝑜𝑠 𝛿 𝑓
𝑦˙ +𝑙 𝑓 𝜑
𝑣 𝑐𝑟 = 𝑙 𝑟 𝜑
˙ − 𝑦
˙
  𝑣 𝑙𝑟 = 𝑥 ˙

Adopted from Hangyang Wang

Bilal Sadiq – bilalsadiq@dgist.ac.kr 5

1. The dynamic Model of Bicycle
 When the front wheel angle is small, the above equations results in following nonlinear
dynamic model of bicycle

  𝑦
˙ −𝑙 𝑓 𝜑
𝑚 𝑥=
¨ 𝑚 𝑦 𝜑
˙ ˙ +2 𝐶 𝑙𝑓 𝑠 𝑓
[+𝐶 𝑐𝑓 𝛿 𝑓 − ( 𝑥
˙
˙
𝛿 𝑓 +𝐶 𝑙𝑟 𝑠 𝑟 ) ]
  𝑦
˙ +𝑙 𝑓 𝜑 𝑙𝑟 𝜑
˙ −𝑦
𝑚𝑦¨ =− 𝑚 𝑥
˙𝜑
[
˙ + 2 𝐶 𝑙𝑓 𝑠 𝑓 𝛿 𝑓 +𝐶 𝑐𝑓 − 𝛿 𝑓 + (𝑥
˙
˙
𝛿 𝑓 +𝐶 𝑙𝑟
𝑥˙
˙
) ( )]
  𝑦
˙ +𝑙 𝑓 𝜑 𝑙 𝑟 𝜑˙ − ˙𝑦
𝐼𝑧𝜑
¨ =2 𝑙 𝑓
[
𝐶 𝑙𝑓 𝑠 𝑓 𝛿 𝑓 +𝐶 𝑐𝑓(− 𝛿 𝑓 +
𝑥
˙
˙
)] − 2𝑙 𝑟 𝐶 𝑐𝑟 ( 𝑥
˙ )
 𝑋
˙ = 𝑥˙ 𝑐𝑜𝑠 𝜑 − 𝑦˙ 𝑐𝑜𝑠 𝜑
 𝑌
˙ =𝑥
˙ 𝑠𝑖𝑛 𝜑+ ˙𝑦 𝑠𝑖𝑛 𝜑

Bilal Sadiq – bilalsadiq@dgist.ac.kr 6

1. The dynamic Model of Bicycle
 In the above formulation the following quantities are directly related to “tire model”
  𝐹 𝑙𝑓 = 𝐶 𝑙𝑓 𝑠𝑓
  𝐹 𝑙𝑟 = 𝐶 𝑙𝑟 𝑠𝑟
 Tire Longitudinal Forces (related to tire longitudinal stiffness and slip ratio)

 In order to incorporate the tire dynamic behavior

 The key parameter depend on the tire data measurements
 The Pacejka tire model describes the “tire longitudinal and cornering
forces” .
 The longitudinal and cornering forces are assumed to depend on the
normal force ,slip angle ,and surface friction coefficient.

  In order to incorporate the tire dynamic behavior

 Tire slips are measured …,
 Road friction coefficient is estimated at each time instant

Bilal Sadiq – bilalsadiq@dgist.ac.kr 7

1. The dynamic Model of Bicycle
 Tire Dynamics Parameters

𝑣𝑐
 
𝑇h𝑒 𝑡𝑖𝑟𝑒 𝑠𝑙𝑖𝑝 𝑎𝑛𝑔𝑙𝑒 𝛼 =tan − 1
( )
𝑣𝑙
𝑇h𝑒
  𝑠𝑙𝑖𝑝 𝑟𝑎𝑡𝑖𝑜
  𝑟𝑤 r and w are the radius and angular speed
𝑠= 𝑓 ( 𝑥 )=
{ 𝑣𝑙

¿1−
− 1 , 𝑖𝑓 𝑣𝑙 > 𝑟𝑤 , 𝑣 𝑙 ≠ 0

𝑣𝑙
𝑟𝑤
, 𝑖𝑓 𝑣 𝑙< 𝑟𝑤 , 𝑤 ≠ 0
of the wheel respectively

Bilal Sadiq – bilalsadiq@dgist.ac.kr 8

2. How to Incorporate Tire Dynamics
 Two methods for incorporating the Tire dynamics parameters explained above

 Parameter Identification method

 Utilizes the experiment data for estimation of parameter,

utilized by all researcher who did not use Car-Sim

 Car-Sim Co-Simulink/MATLAB environment

 As Car-sim Captures all the necessary parameter which

will be used in Path tracking and other functionality of
autonomous vehicles.

Bilal Sadiq – bilalsadiq@dgist.ac.kr 9

3. Next Meeting
 Definitely present the Car-sim Software Output

 That might not be “so-appropriate” but will be able to “configure the

Car-Sim as the First Stage design

 MPC based Car-sim Output will be shown

Bilal Sadiq – bilalsadiq@dgist.ac.kr 10

Thank you

Bilal Sadiq – bilalsadiq@dgist.ac.kr 11