https://m2.mtmt.hu/ hun 2026-07-26 17:05 JournalArticle 32791606 VALIDATED true Funding Agency and Grant Number: NRDI Fund under Ministry for Innovation and Technology Funding text: The authors are grateful to the members of the Vehicle Motion Control project at ThyssenKrupp, who supported our work in enormous ways. The authors also would like to thank the support of the robot research group members at BME-AUT. The research reported in this paper and carried out at the BME has been supported by the NRDI Fund based on the charter of bolster issued by the NRDI Office under the auspices of the Ministry for Innovation and Technology. 0 false 2026-06-30T10:06:33.603+0000 2024-01-05T12:50:08.056+0000 2022-04-25T07:46:25.446+0000 true 10069115 Kovács Adorján /api/author/10069115 Author true 2024-01-05T12:50:01.880+0000 2024-01-05T12:50:01.880+0000 2024-01-05T12:50:08.285+0000 true 10071696 Andódy Katalin /api/admin/10071696 Admin true true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Kovacs, Adorjan Optimization-based Model Predictive Tube Control for Autonomous Ground Vehicles with Minimal Tuning Parameters true true /api/journal/10046141 REVIEWED true false 10046141 false 10046141 true 2301-3850 2301-3869 Journal FOREIGN 11 1 93 108 93 16 2023 The trajectory planning and tracking problem are critical points of intelligent vehicles concerning their safety and stability. If these parts are separated, interactions should be made between them, especially when sudden changes and disturbances appear. This paper presents a method that integrates the two parts using a cascade structure. Additionally, the proposed method deals with the interaction between the lateral and the longitudinal trajectory based on dynamical considerations. The whole problem is handled using the model predictive method based on online optimization. This system receives the path borders as input and generates the control requests for the actuators on its output. The configuration space of the system can be maximized to gain stability by handling the lateral-longitudinal parts and the trajectory planning and tracking in one complex system. The main advantage of the proposed approach is that the optimization problem in the predictive method is formulated so that the path and dynamics are considered equality and inequality constraints, and the cost function includes only a physical phenomenon to be minimized without tuning parameters. The evaluation of the proposed algorithm is presented in this paper based on simulation and real-time measurements results. true 2022 true true true false true false NONE 2026-06-30 false 4 0 4 4 0 4 4 3 0 3 3 3 3 4 0 0 4 4 4 4 0 2 2 Folyóiratcikk Journal Article 24 3 Könyvrészlet Chapter in Book 25 1 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2023 0 1 1 1 1 2024 0 0 0 0 0 2025 0 0 0 0 0 2026 0 3 3 3 3 D1 false 10001498 false false false 2022-07-24T07:46:26.126+0000 Automatizálási és Alkalmazott Informatikai Tanszék (BME / VIK) 2 9 1 2 0 true Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 101406980 /api/authorship/101406980 1 0.5 true false false Author 10069115 /api/author/10069115 Kovács Adorján true true Kovacs Adorjan true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 101406981 /api/authorship/101406981 2 0.5 false true false Author 10001498 /api/author/10001498 Vajk István true 10001498 true Vajk Istvan true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PublicationIdentifier 20899454 /api/publicationidentifier/20899454 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1142/S230138502350005X https://doi.org/10.1142/S230138502350005X false true PublicationIdentifier 21684490 /api/publicationidentifier/21684490 PlainSource 1 /api/publicationsource/1 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 000848728600001 https://www.webofscience.com/wos/woscc/full-record/000848728600001 false true PublicationIdentifier 21226880 /api/publicationidentifier/21226880 PlainSource 3 /api/publicationsource/3 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true 85131888933 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85131888933 false true PublicationIdentifier 20899455 /api/publicationidentifier/20899455 PlainSource 40 /api/publicationsource/40 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Egyéb URL Other URL @@@ true true 40 true https://www.worldscientific.com/doi/10.1142/S230138502350005X https://www.worldscientific.com/doi/10.1142/S230138502350005X false true SjrRating 11351313 /api/sjrrating/11351313 8 0.1 journal RatingType 10002 /api/ratingtype/10002 sjr true true ClassificationExternal 2202 /api/classificationexternal/2202 true 2202 true D1 DIRECT true true /api/publication/32791606 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10069115"><a href="/gui2/?type=authors&mode=browse&sel=10069115" target="_blank">Kovacs Adorjan (<span class="authorship-author-name">Kovács Adorján</span> <span class="authorAux-mtmt"> villamosmérnök</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Automatizálási és Alkalmazott Informatikai Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10001498"><a href="/gui2/?type=authors&mode=browse&sel=10001498" target="_blank">Vajk Istvan (<span class="authorship-author-name">Vajk István</span> <span class="authorAux-mtmt"> Irányítástechnika, műszaki informatika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Automatizálási és Alkalmazott Informatikai Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;32791606" target="_blank">Optimization-based Model Predictive Tube Control for Autonomous Ground Vehicles with Minimal Tuning Parameters</a></div> <div> <span class="journal-title">UNMANNED SYSTEMS</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/2301-3850">2301-3850</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/2301-3869">2301-3869</a>)</span>: <span class="journal-volume">11</span> <span class="journal-issue">1</span> <span class="page"> pp 93-108 </span> <span class="year">(2023)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1142/S230138502350005X" target="_blank" href="https://doi.org/10.1142/S230138502350005X"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000848728600001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000848728600001"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="85131888933" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85131888933"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://www.worldscientific.com/doi/10.1142/S230138502350005X" target="_blank" href="https://www.worldscientific.com/doi/10.1142/S230138502350005X"> Egyéb URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Aerospace Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Control and Optimization&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;D1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Control and Systems Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 4</span> | Független: 4 | Függő: 0 | Nem jelölt: 0 | WoS jelölt: 3 | WoS/Scopus jelölt:&nbsp;3 | DOI jelölt:&nbsp;4 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;32791606&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 2 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 32791606</span> | <span class="status-data status-VALIDATED"> Egyeztetett </span> Forrás Idéző | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Utolsó módosítás: 2024.01.05. 13:50 Andódy Katalin (BME admin5) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: Funding Agency and Grant Number: NRDI Fund under Ministry for Innovation and Technology Funding text: The authors are grateful to the members of the Vehicle Motion Control project at ThyssenKrupp, who supported our work in enormous ways. The authors also would like to thank the support of the robot research group members at BME-AUT. The research reported in this paper and carried ou...</pre> </div></div>