Integrating longitudinal–lateral control for autonomous vehicles using enhanced deep reinforcement learning

Adaptive MPC Path Tracking Control for Autonomous Vehicles

This work introduces a Model Predictive Control (MPC) path tracking controller, which is developed to boost robustness, tracking precision, and vehicle stability when navigating high-speed and high-curvature driving scenarios. First, a 3-degree-of-freedom (3-DOF) dynamic model of the vehicle is established to serve as...

Adaptive model predictive control for path tracking of intelligent vehicles under time-varying conditions

Coordinated Control of Intelligent Vehicle Stability and Trajectory Tracking Based on Stability-Region Identification

To solve the conflict between trajectory tracking and stability control for distributed drive electric vehicles under complex driving conditions, an integrated longitudinal and lateral coordinated control strategy based on a hierarchical architecture is proposed in this paper. First, a stability-boundary dataset is con...

Adaptive proportional derivative lateral longitudinal integrated automatic lane keeping control strategy based on finite time disturbance observer

For distributed drive electric vehicles, designing an effective automatic lane keeping system and optimizing wheel torque allocation to enhance overall performance have consistently been a key research focus in this field. However, such systems face multiple challenges in practical applications, including external dist...

Trajectory Tracking Control for UUVs Based on Deep Reinforcement Learning

Unmanned Underwater Vehicles (UUVs) operate in complex and uncertain environments, which require a suitable controller. While traditional PID controllers are widely used, they often have slow response speed and inadequate disturbance rejection, particularly under complex and uncertain conditions. To overcome these sho...

Reinforcement Learning Control for Target Curvature Tracking in Steer-by-Wire Vehicles

This study addresses target curvature tracking for lateral vehicle motion under low-friction driving conditions. To this end, a reinforcement learning-based steering control framework was developed for steer-by-wire vehicles using a curvature-based steering target. The target curvature was generated from the driver’s s...