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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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 17; no. 1; pp. 193 - 202
Main Authors Yang, Lu, Yue, Ming, Ma, Teng
Format Journal Article
LanguageEnglish
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
Subjects
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
model predictive control
path following
uncertain road information
Autonomous ground vehicle
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Summary: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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http://link.springer.com/article/10.1007/s12555-017-0457-8
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-017-0457-8