Ribbon model based path tracking method for autonomous ground vehicles
To resolve the path tracking problem of autonomous ground vehicles, an analysis of existing path tracking methods was carried out and an important conclusion was got. The vehicle-road model is crucial for path following. Based on the conclusion, a new vehicle-road model named “ribbon model” was cons...
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| Published in | Journal of Central South University Vol. 21; no. 5; pp. 1816 - 1826 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Heidelberg
Central South University
01.05.2014
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2095-2899 2227-5223 |
| DOI | 10.1007/s11771-014-2127-9 |
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| Abstract | To resolve the path tracking problem of autonomous ground vehicles, an analysis of existing path tracking methods was carried out and an important conclusion was got. The vehicle-road model is crucial for path following. Based on the conclusion, a new vehicle-road model named “ribbon model” was constructed with consideration of road width and vehicle geometry structure. A new vehicle-road evaluation algorithm was proposed based on this model, and a new path tracking controller including a steering controller and a speed controller was designed. The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller. To verify the performance of the novel method, simulation and real vehicle experiments were carried out. Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible, so it can adjust the control strategy, such as safety, amenity, and rapidity criteria autonomously according to the road situation. This is important for the controller to adapt to different kinds of environments, and can improve the performance of autonomous ground vehicles significantly. |
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| AbstractList | To resolve the path tracking problem of autonomous ground vehicles, an analysis of existing path tracking methods was carried out and an important conclusion was got. The vehicle-road model is crucial for path following. Based on the conclusion, a new vehicle-road model named “ribbon model” was constructed with consideration of road width and vehicle geometry structure. A new vehicle-road evaluation algorithm was proposed based on this model, and a new path tracking controller including a steering controller and a speed controller was designed. The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller. To verify the performance of the novel method, simulation and real vehicle experiments were carried out. Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible, so it can adjust the control strategy, such as safety, amenity, and rapidity criteria autonomously according to the road situation. This is important for the controller to adapt to different kinds of environments, and can improve the performance of autonomous ground vehicles significantly. |
| Author | Liu, Da-xue Li, Xiao-hui Chen, Qing-yang Sun, Zhen-ping |
| Author_xml | – sequence: 1 givenname: Qing-yang surname: Chen fullname: Chen, Qing-yang organization: College of Mechatronic Engineering and Automation, National University of Defense Technology – sequence: 2 givenname: Zhen-ping surname: Sun fullname: Sun, Zhen-ping email: 13974913933@139.com organization: College of Mechatronic Engineering and Automation, National University of Defense Technology – sequence: 3 givenname: Da-xue surname: Liu fullname: Liu, Da-xue organization: College of Mechatronic Engineering and Automation, National University of Defense Technology – sequence: 4 givenname: Xiao-hui surname: Li fullname: Li, Xiao-hui organization: College of Mechatronic Engineering and Automation, National University of Defense Technology |
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| CitedBy_id | crossref_primary_10_1016_j_ymssp_2015_10_021 crossref_primary_10_1007_s11465_021_0660_4 crossref_primary_10_1016_j_future_2017_06_006 crossref_primary_10_1108_EC_02_2021_0115 crossref_primary_10_3390_electronics11223703 |
| Cites_doi | 10.5370/KIEE.2012.61.5.735 10.1109/TVT.2012.2201513 10.1002/rob.20147 10.1007/BFb0036073 10.1016/j.scient.2011.03.021 10.1109/TSMC.1981.4308705 10.1109/TITS.2008.2011697 10.1109/TITS.2010.2060722 10.1109/TITS.2010.2091272 10.1109/25.845116 10.1007/978-3-642-13408-1_7 10.1016/j.conengprac.2011.08.005 10.1002/rob.20255 10.1007/978-3-540-77457-0_32 10.1068/p5343 10.1007/s11771-012-1220-1 10.1109/25.69978 10.1115/1.3139632 10.1016/j.asoc.2010.04.003 10.1109/25.69979 |
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| Keywords | ribbon model autonomous ground vehicle path tracking |
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| References_xml | – reference: SalvucciD DGrayRA two-point visual control model of steering [J]Perception2004331233124810.1068/p5343 – reference: GuoJ-hHuPLiL-hWangR-benDesign of automatic steering controller for trajectory tracking of unmanned vehicles using genetic algorithms [J]IEEE Transactions on Vehicular Technology20126172913292410.1109/TVT.2012.2201513 – reference: HoffmannG MTomlinC JMontemerloMThrunSAutonomous automobile trajectory tracking for off-road driving: controller design, experimental validation and racing [C]Proceedings of the American Control Conference. New York, United States200722962301 – reference: FernandezL DMilanesVParraA IGavilanMGarciaD IPerezJSoteloM AAutonomous pedestrian collision avoidance using a fuzzy steering controller [J]IEEE Transactions on Intelligent Transportation Systems20111239040110.1109/TITS.2010.2091272 – reference: OhS YLeeJ HChoiD HA new reinforcement learning vehicle control architecture for vision-based road following [J]IEEE Transactions on Vehicular Technology2000493997100510.1109/25.845116 – reference: AiH-zZhangBoPath planning for mobile robots [J]Pattern Recognition and Artificial Intelligence1991415157 – reference: LucaA DOrioloGSamsonCFeedback control of a nonholonomic car-like robot [J]Robot Motion Planning and Control, Lecture Notes in Control and Information Sciences199822917124910.1007/BFb0036073 – reference: ThrunSMontemerloMDahlkampHStavensDAronADiebelJFongPGaleJHalpennyMHoffmannGLauKOakleyCPalatucciMPrattVStangPStrohbandSDupontCJendrossekL EKoelenCMarkeyCRummelCVanN JJensenEAlessandriniPBradskiGDaviesBEttingerSKaehlerANefianAMahoneyPStanley: The robot that won the DARPA grand challenge [J]Journal of Field Robotics200623966169210.1002/rob.20147 – reference: MacadamC CAn optimal preview control for linear systems [J]Journal of Dynamical System, Measurement, Control198010218819010.1115/1.31396320452.93024 – reference: KimB ALeeY OLeeS HChungCMPC-based active steering control using multi-rate kaiman filter for autonomous vehicle systems with vision [J]Transactions of the Korean Institute of Electrical Engineers201261573574310.5370/KIEE.2012.61.5.7352960422 – reference: OnievaENaranjoJ EMilanesVAlonsoJGarciaRPerezJAutomatic lateral control for unmanned vehicles via genetic algorithms [J]Applied Soft Computing Journal20111111303130910.1016/j.asoc.2010.04.003 – reference: WillumeitH PVehicle dynamics: simulation and methods [M]1998BeijingBeijing Institute of Technology Press127130 – reference: GaoF-dPanC-yHanY-yZhangXiangNonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions [J]Journal of Central South University2012191859186810.1007/s11771-012-1220-1 – reference: HowardT MKnepperR AKellyAConstrained optimization Path following of wheeled robots in natural terrain [J]Springer Tracts in Advanced Robotics20083934335210.1007/978-3-540-77457-0_32 – reference: FentonRMayhanRAutomated highway studies at the Ohio state university-An overview [J]IEEE Transaction on Vehicular Technology199140110011310.1109/25.69978 – reference: ShladoverSDesoerCHedrickJTomizukaMWalrandJZhangW BMcmahonD HPengHSheikholeslamSMckeownNAutomatic vehicle control developments in the PATH program [J]IEEE Transaction on Vehicular Technology199140111413010.1109/25.69979 – reference: UrmsonCAnhaltJBagnellDBakerCBittnerRClarkM NDolanJDugginsDGalataliTGeyerCGittlemanMHarbaughSHebertMHowardT MKolskiSKellyALikhachevMMcnaughtonMMillerNPetersonKPilnickBRajkumarRRybskiPSaleskyBSeoY 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Iranica201118226126710.1016/j.scient.2011.03.021 – reference: SharpR SDriver steering control and a new perspective on car handling qualities [J]Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science20052191010411051 – reference: MarinoRScalziSNettoMNested PID steering control for lane keeping in autonomous vehicles [J]Control Engineering Practice201119121459146710.1016/j.conengprac.2011.08.005 – reference: RaffoG VGomesG KNormey-ricoJ EKelberC RBeckerL BA predictive controller for autonomous vehicle path tracking [J]IEEE Transactions on Intelligent Transportation Systems20091019210210.1109/TITS.2008.2011697 – reference: MacadamC CApplication of an optimal preview control for simulation of closed-loop automobile driving [J]IEEE Transactions on Systems, Man, and Cybernetics19811139339910.1109/TSMC.1981.4308705 – reference: GuoK-huiVehicle handling dynamics [M]1991ChangchunJilin Science and Technology Press3132 – volume: 61 start-page: 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| Title | Ribbon model based path tracking method for autonomous ground vehicles |
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