Path Following Predictive Control for Autonomous Vehicles Subject to Uncertain Tire-ground Adhesion and Varied Road Curvature
This paper presents an integrated active steering control (ASC) and direct yaw control (DYC) strategy for improving path following performance of the vehicle subject to the uncertain tire-ground adhesion and road curvature conditions. To begin with, a model predictive control (MPC)-based path follow...
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| Published in | International journal of control, automation, and systems Vol. 17; no. 1; pp. 193 - 202 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.01.2019
Springer Nature B.V 제어·로봇·시스템학회 |
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| Abstract | This paper presents an integrated active steering control (ASC) and direct yaw control (DYC) strategy for improving path following performance of the vehicle subject to the uncertain tire-ground adhesion and road curvature conditions. To begin with, a model predictive control (MPC)-based path following controller is designed to deal with system state constraints and actuator actuation limitations. After that, a constrained weighted least square (CWLS)-based torque distributor is developed to distribute the target resultant yaw moment signal into the four executive wheels. Then, the developed control strategy and methods are implemented and evaluated on an eight degree of freedom (8DOF) nonlinear vehicle model include longitudinal, lateral, yaw, roll and four wheels’ rotation dynamics. In the end, simulation results compared with ASC strategy, under the uncertain tire-ground adhesion and varied road curvature cases, confirm the feasibility and efficiency of the presented strategy and methods even subject to the uncertain tire-ground adhesion and varied road curvature. |
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| AbstractList | This paper presents an integrated active steering control (ASC) and direct yaw control (DYC) strategy for improving path following performance of the vehicle subject to the uncertain tire-ground adhesion and road curvature conditions. To begin with, a model predictive control (MPC)-based path following controller is designed to deal with system state constraints and actuator actuation limitations. After that, a constrained weighted least square (CWLS)-based torque distributor is developed to distribute the target resultant yaw moment signal into the four executive wheels. Then, the developed control strategy and methods are implemented and evaluated on an eight degree of freedom (8DOF) nonlinear vehicle model include longitudinal, lateral, yaw, roll and four wheels’ rotation dynamics. In the end, simulation results compared with ASC strategy, under the uncertain tire-ground adhesion and varied road curvature cases, confirm the feasibility and efficiency of the presented strategy and methods even subject to the uncertain tire-ground adhesion and varied road curvature. This paper presents an integrated active steering control (ASC) and direct yaw control (DYC) strategyfor improving path following performance of the vehicle subject to the uncertain tire-ground adhesion and roadcurvature conditions. To begin with, a model predictive control (MPC)-based path following controller is designedto deal with system state constraints and actuator actuation limitations. After that, a constrained weighted leastsquare (CWLS)-based torque distributor is developed to distribute the target resultant yaw moment signal into thefour executive wheels. Then, the developed control strategy and methods are implemented and evaluated on an eightdegree of freedom (8DOF) nonlinear vehicle model include longitudinal, lateral, yaw, roll and four wheels’ rotationdynamics. In the end, simulation results compared with ASC strategy, under the uncertain tire-ground adhesionand varied road curvature cases, confirm the feasibility and efficiency of the presented strategy and methods evensubject to the uncertain tire-ground adhesion and varied road curvature. KCI Citation Count: 30 |
| Author | Yang, Lu Yue, Ming Ma, Teng |
| Author_xml | – sequence: 1 givenname: Lu surname: Yang fullname: Yang, Lu organization: School of Automotive Engineering, Dalian University of Technology – sequence: 2 givenname: Ming surname: Yue fullname: Yue, Ming email: yueming@dlut.edu.cn organization: School of Automotive Engineering, Dalian University of Technology – sequence: 3 givenname: Teng surname: Ma fullname: Ma, Teng organization: School of Automotive Engineering, Dalian University of Technology |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002425933$$DAccess content in National Research Foundation of Korea (NRF) |
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| Copyright | Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019 International Journal of Control, Automation and Systems is a copyright of Springer, (2019). All Rights Reserved. |
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| SubjectTerms | Active control Actuation Adhesion Automation Autonomous vehicles Computer simulation Control Control methods Control systems design Controllers Curvature Efficiency Engineering Mathematical models Mechatronics Methods Predictive control Regular Papers Robotics Rolling motion Steering Strategy Trajectory planning Vehicle wheels Wheels Yawing moments 제어계측공학 |
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| Title | Path Following Predictive Control for Autonomous Vehicles Subject to Uncertain Tire-ground Adhesion and Varied Road Curvature |
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