An Internal Model Control (IMC) Algorithm for Automatic Trajectory Tracking

Abstract:

This paper presented a trajectory tracking algorithm applied for an intelligent driving system. Both the path tracking and longitudinal speed tracking controller are based on IMC algorithm and are carried out respectively. A simulation tool is introduced in this paper and some simulation tests were conducted to verify the proposed trajectory planning algorithm. The simulation results show that the proposed trajectory tracking algorithm is valid and good for the applications of vehicle driving in complex environment.

• Periodical: Advanced Materials Research (Volumes 712-715)
• Pages: 2296-2302
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.712-715.2296
• Online since: June 2013
• Authors: Su Min Zhang*, Wei Wen Deng, Yu Wang, Bing Xu Shang
• Keywords: Internal Model Control (IMC), Internal Model Control-PID, Proportional Integral Differential (PID) Control, Trajectory Tracking

References

[1] F. Flemisch, F. Nashashibi, S. Glaser, N. Rauch et al., "Towards Highly Automated Driving: Intermediate report on the HAVEit-Joint System", in the Proceedings of the 3rd European Transport Research Arena Conference (TRA 2010), 7-10 June, Brussels, Belgium.

[2] Guillermo Heredia,Anibal Ollero,"Stability of Autonomous Vehicle Path Tracking with Pure Delays in the Control Loop," Advanced Robotics, Vol. 21, No. 1-2, pp.23-50 (2007).

DOI: 10.1163/156855307779293715

[3] C. Macadam, "An optimal preview control for linear system," Journal of Dynamic Systems, Measurement, and Control, vol. 102, 1980.

[4] Byrne, R. H., Abdallah, C. T., and Dorato, P., "Experimental Results in Robust Lateral Control of Highway Vehicles," In Proceedings of the 34th Conference on Decision and Control, New Orleans, LA, December 1995, p.3572–3575.

DOI: 10.1109/cdc.1995.479140

[5] Ollero and O. Amidi, Predictive Path Tracking of Mobile Robots-Application to the CMU Navlab, in Proc. of the Fifth International Conference on Advanced Robotics, Pisa, Vol. II, pp.1081-1086 (1991).

DOI: 10.1109/icar.1991.240412

[6] Sharp, R.S. and Valtetsiotis, V., Optimal Preview Car Steering Control. VSD,2001. Supp 35: pp.101-117.

[7] Hoffmann, G.M. Tomlin, C.J., Montemerlo, M. , Thrun, S., "Autonomous Automobile Trajectory Tracking for Off-Road Driving: Controller Design, Experimental Validation and Racing ," American Control Conference, 2007. ACC '07.

DOI: 10.1109/acc.2007.4282788

[8] M. Horowitz, Synthesis of feedback systems, Academic Press, (1963).

[9] Proceedings of the 2007 American Control Conference Marriott Marquis Hotel at Times Square New York City, USA, July 11-13, 2007.

[10] Sumin Zhang, Weiwen Deng, Qingrong Zhao, et al, "An Intelligent Driver Model with Trajectory Planning," 15th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp: 876 - 881, 2012.

DOI: 10.1109/itsc.2012.6338651

[11] http://www.carsim.com/

[12] K.Guo, Vehicle Handling Dynamics, 1991(in Chinese).

[13] Salim Hima,Benoit Lusseti, Benoit Vanholme, Sebastien Glaser,and Said Mammar, "Trajectory Tracking for Highly Automated Passenger Vehicles," Preprints of the 18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011.

DOI: 10.3182/20110828-6-it-1002.03594

[14] International Organization for Standardization: ISO 3888-1: Passenger cars – Test track for a severe lanechange manoeuvre – Part 1: Double lane-change, Geneva, 1999.

DOI: 10.3403/01886574