{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T11:06:01Z","timestamp":1771239961607,"version":"3.50.1"},"reference-count":35,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2024,12,6]],"date-time":"2024-12-06T00:00:00Z","timestamp":1733443200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Fund of China","doi-asserted-by":"crossref","award":["52375258"],"award-info":[{"award-number":["52375258"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2026,2]]},"abstract":"<jats:p>Aiming at the problem of insufficient tracking accuracy and long computational time of model predictive control algorithm in trajectory tracking of autonomous vehicles, a model predictive control parameter optimization method based on a nondominated sorting whale optimization algorithm was proposed. In this method, the parameter optimization problem of the model predictive control algorithm was transformed into a multiobjective optimization problem, with the predictive horizon, control horizon, and sample time as optimized objectives and the sum of squared lateral trajectory errors and computational time as optimized variables. The multiobjective optimization problem was solved using the nondominated sort whale optimization algorithm, and then the Pareto optimal solution set was obtained. The best solution was determined using the expert scoring method, continuous order weighted average operator method, game theory combination weighting method, and technique for order preference by similarity to the ideal solution method. Finally, the phase plane method is used to analyze the vehicle handling stability. The experimental results show that compared with the initial method, the lateral trajectory errors of the proposed method are reduced by 66.09% on average, and the computational time is reduced by 54.68% on average. Therefore, the proposed method is considered to be an effective method for parameter optimization of model predictive control.<\/jats:p>","DOI":"10.1177\/01423312241291095","type":"journal-article","created":{"date-parts":[[2024,12,6]],"date-time":"2024-12-06T05:09:23Z","timestamp":1733461763000},"page":"609-622","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Model predictive control parameter optimization method for autonomous vehicles"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-9821-4700","authenticated-orcid":false,"given":"Tiangen","family":"Chang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Shenyang University of Technology, China"}]},{"given":"Guofu","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang University of Technology, China"}]},{"given":"Sen","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang University of Technology, China"}]},{"given":"Jiaxin","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang University of Technology, China"}]}],"member":"179","published-online":{"date-parts":[[2024,12,6]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2019.104270"},{"issue":"4","key":"e_1_3_3_3_1","first-page":"475","article-title":"Research status of path tracking control for unmanned vehicles","volume":"43","author":"Bai GX","year":"2021","unstructured":"Bai GX, Meng Y, Liu L, et al. (2021) Research status of path tracking control for unmanned vehicles. Chinese Journal of Engineering Science 43(4): 475\u2013485.","journal-title":"Chinese Journal of Engineering Science"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2022.3224089"},{"issue":"1","key":"e_1_3_3_5_1","first-page":"11","article-title":"Evaluation index weight allocation model based on game theory","volume":"33","author":"Cao L","year":"2019","unstructured":"Cao L, Lu H, Feng Y (2019) Evaluation index weight allocation model based on game theory. Military Operations Research and Systems Engineering 33(1): 11\u201314.","journal-title":"Military Operations Research and Systems Engineering"},{"key":"e_1_3_3_6_1","volume-title":"Theory and Design of Unmanned Vehicles","author":"Chen H","year":"2019","unstructured":"Chen H, Xiong G, Gong J (2019) Theory and Design of Unmanned Vehicles. Beijing: Beijing Institute of Technology Press."},{"issue":"2","key":"e_1_3_3_7_1","first-page":"153","article-title":"Longitudinal and lateral integrated trajectory tracking control of intelligent vehicle based on NMPC","volume":"43","author":"Chen L","year":"2021","unstructured":"Chen L, Zou K, Cai YF, et al. (2021) Longitudinal and lateral integrated trajectory tracking control of intelligent vehicle based on NMPC. Automotive Engineering 43(2): 153\u2013161.","journal-title":"Automotive Engineering"},{"key":"e_1_3_3_8_1","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2022.24.275"},{"key":"e_1_3_3_9_1","volume-title":"Model Predictive Control for Autonomous Vehicles","author":"Gong J","year":"2020","unstructured":"Gong J, Liu K, Qi J (2020) Model Predictive Control for Autonomous Vehicles. Beijing: Beijing Institute of Technology Press."},{"key":"e_1_3_3_10_1","doi-asserted-by":"publisher","DOI":"10.1080\/00207543.2019.1600760"},{"issue":"4","key":"e_1_3_3_11_1","first-page":"15","article-title":"Non-dominated sorting whale optimization algorithm: A multi-objective optimization algorithm for solving engineering design problems","volume":"17","author":"Jangir P","year":"2017","unstructured":"Jangir P, Jangir N (2017) Non-dominated sorting whale optimization algorithm: A multi-objective optimization algorithm for solving engineering design problems. Global Journal of Researches in Engineering 17(F4): 15\u201342.","journal-title":"Global Journal of Researches in Engineering"},{"issue":"2812","key":"e_1_3_3_12_1","first-page":"2","article-title":"Model predictive control based integrated path tracking and velocity control for autonomous vehicle with four-wheel independent steering and driving","volume":"10","author":"Jeong Y","year":"2021","unstructured":"Jeong Y, Yim S (2021) Model predictive control based integrated path tracking and velocity control for autonomous vehicle with four-wheel independent steering and driving. Electronics 10(2812): 2\u201319.","journal-title":"Electronics"},{"issue":"2019","key":"e_1_3_3_13_1","first-page":"727","article-title":"Machining parameters optimization in laser beam machining for micro elliptical profiles using TOPSIS method","volume":"21","author":"Kannan VS","year":"2019","unstructured":"Kannan VS, Lenin K, Navneethakrishnan P (2019) Machining parameters optimization in laser beam machining for micro elliptical profiles using TOPSIS method. Materials Today: Proceedings 21(2019): 727\u2013730.","journal-title":"Materials Today: Proceedings"},{"key":"e_1_3_3_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12239-014-0120-9"},{"key":"e_1_3_3_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11069-015-1645-6"},{"issue":"5","key":"e_1_3_3_16_1","first-page":"664","article-title":"Research on predictive control of autonomous vehicle path following model under complex road conditions","volume":"44","author":"Li J","year":"2022","unstructured":"Li J, Wan WX, Hao SQ, et al. (2022) Research on predictive control of autonomous vehicle path following model under complex road conditions. Automotive Engineering 44(5): 664\u2013674.","journal-title":"Automotive Engineering"},{"key":"e_1_3_3_17_1","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2023.04.199"},{"issue":"8","key":"e_1_3_3_18_1","first-page":"1187","article-title":"Predictive control based on dynamics model of articulated vehicles more advance at path following method","volume":"43","author":"Li SX","year":"2021","unstructured":"Li SX, Xu B, Hu MJ, et al. (2021) Predictive control based on dynamics model of articulated vehicles more advance at path following method. Automotive Engineering 43(8): 1187\u20131194.","journal-title":"Automotive Engineering"},{"issue":"6","key":"e_1_3_3_19_1","first-page":"835","article-title":"Based on adaptive MPC trajectory tracking control of unmanned vehicle","volume":"41","author":"Liang ZC","year":"2020","unstructured":"Liang ZC, Zhang H, Zhao J, et al. (2020) Based on adaptive MPC trajectory tracking control of unmanned vehicle. Journal of Northeastern University 41(6): 835\u2013840.","journal-title":"Journal of Northeastern University"},{"key":"e_1_3_3_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/CAC51589.2020.9327274"},{"issue":"2020","key":"e_1_3_3_21_1","first-page":"1","article-title":"Planning the trajectory of an autonomous wheel loader and tracking its trajectory via adaptive model predictive control","volume":"131","author":"Shi JR","year":"2020","unstructured":"Shi JR, Sun DY, Qin DT, et al. (2020) Planning the trajectory of an autonomous wheel loader and tracking its trajectory via adaptive model predictive control. Robotics and Autonomous Systems 131(2020): 1\u201315.","journal-title":"Robotics and Autonomous Systems"},{"key":"e_1_3_3_22_1","doi-asserted-by":"publisher","DOI":"10.3390\/electronics10212593"},{"issue":"2019","key":"e_1_3_3_23_1","first-page":"39","article-title":"VIKOR method for multi-attribute group decision making based on weighted aggregation model of game theory","volume":"15","author":"Wang HD","year":"2019","unstructured":"Wang HD, He SF, Pan XH, et al. (2019) VIKOR method for multi-attribute group decision making based on weighted aggregation model of game theory. Statistics and Decision 15(2019): 39\u201343.","journal-title":"Statistics and Decision"},{"issue":"11","key":"e_1_3_3_24_1","first-page":"1","article-title":"Path tracking based on model predictive control with variable predictive horizon","volume":"43","author":"Wang HR","year":"2021","unstructured":"Wang HR, Wang QD, Chen WW, et al. (2021) Path tracking based on model predictive control with variable predictive horizon. Transactions of the Institute of Measurement and Control 43(11): 1\u201313.","journal-title":"Transactions of the Institute of Measurement and Control"},{"issue":"10","key":"e_1_3_3_25_1","first-page":"1494","article-title":"Research on trajectory tracking control of unmanned vehicle based on efficient NMPC algorithm","volume":"44","author":"Wang HW","year":"2022","unstructured":"Wang HW, Liu CY, Li L, et al. (2022a) Research on trajectory tracking control of unmanned vehicle based on efficient NMPC algorithm. Automotive Engineering 44(10): 1494\u20131502.","journal-title":"Automotive Engineering"},{"issue":"11","key":"e_1_3_3_26_1","first-page":"1665","article-title":"Path tracking strategy of multi-axle heavy vehicle all-wheel steering based on tube MPC","volume":"44","author":"Wang WC","year":"2022","unstructured":"Wang WC, Li JQ, Sun FC, et al. (2022b) Path tracking strategy of multi-axle heavy vehicle all-wheel steering based on tube MPC. Automotive Engineering 44(11): 1665\u20131675.","journal-title":"Automotive Engineering"},{"key":"e_1_3_3_27_1","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2022.06.130"},{"key":"e_1_3_3_28_1","unstructured":"Xie XY Wang YH Jin LS et al. (2022) MPC trajectory tracking control based on changing time step in control horizon. Journal of Jilin University 1\u201310."},{"key":"e_1_3_3_29_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12239-023-0091-9"},{"key":"e_1_3_3_30_1","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2020.10.127"},{"key":"e_1_3_3_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/CCDC.2016.7531548"},{"key":"e_1_3_3_32_1","volume-title":"Design and Application of Automatic Driving System","author":"Yu GZ","year":"2019","unstructured":"Yu GZ, Zhou B, Wang Y, et al. (2019) Design and Application of Automatic Driving System. Beijing: Tsinghua University Press."},{"issue":"7","key":"e_1_3_3_33_1","first-page":"305","article-title":"Intelligent vehicle lateral trajectory tracking control based on adaptive model prediction","volume":"35","author":"Zhang ZD","year":"2022","unstructured":"Zhang ZD, Zheng L, Li YN, et al. (2022) Intelligent vehicle lateral trajectory tracking control based on adaptive model prediction. China Journal of Highway and Transport 35(7): 305\u2013316.","journal-title":"China Journal of Highway and Transport"},{"issue":"12","key":"e_1_3_3_34_1","first-page":"269","article-title":"Autonomous vehicle based on improved artificial potential field curve overtaking dynamic path planning","volume":"35","author":"Zhang ZY","year":"2022","unstructured":"Zhang ZY, Qiu GL, Huang CX, et al. (2022) Autonomous vehicle based on improved artificial potential field curve overtaking dynamic path planning. China Journal of Highway and Transport 35(12): 269\u2013278.","journal-title":"China Journal of Highway and Transport"},{"issue":"5","key":"e_1_3_3_35_1","first-page":"51","article-title":"Evaluation model based on minimum variance C-OWA and application","volume":"40","author":"Zheng TT","year":"2022","unstructured":"Zheng TT, Mao XW, Yang XY, et al. (2022) Evaluation model based on minimum variance C-OWA and application. Journal of Quanzhou Normal University 40(5): 51\u201356.","journal-title":"Journal of Quanzhou Normal University"},{"key":"e_1_3_3_36_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-021-0812-7"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312241291095","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/01423312241291095","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312241291095","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T10:12:48Z","timestamp":1771236768000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/01423312241291095"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,6]]},"references-count":35,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2026,2]]}},"alternative-id":["10.1177\/01423312241291095"],"URL":"https:\/\/doi.org\/10.1177\/01423312241291095","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,6]]}}}