Path Tracking of Intelligent Commercial Vehicles Based on Variable Weight Coefficient Multipoint Preview Control

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

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Research on Path Planning and Tracking Control of Automatic Parking System

World Electric Vehicle Journal ◽

10.3390/wevj13010014 ◽

2022 ◽

Vol 13 (1) ◽

pp. 14

Author(s):

Bingzhan Zhang ◽

Zhiyuan Li ◽

Yaoyao Ni ◽

Yujie Li

Keyword(s):

Path Planning ◽

Predictive Control ◽

Tracking Control ◽

Path Tracking ◽

Preview Control ◽

Laboratory Environment ◽

Incremental Model ◽

Quintic Polynomial ◽

Parking System ◽

Automatic Parking

In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.

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Dual Objective Multidimensional Parameter Optimization of Cam Curve Based on Improved Ant Colony Algorithm

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.1037.357 ◽

2014 ◽

Vol 1037 ◽

pp. 357-362

Author(s):

Zhen Jun He ◽

Peng Xu ◽

Jiang Xiao Liao

Keyword(s):

Objective Function ◽

Ant Colony Algorithm ◽

Weight Coefficient ◽

Ant Colony ◽

Multidimensional Space ◽

Profile Curve ◽

Multi Objective ◽

Cam Mechanism ◽

Variable Weight ◽

Improved Ant Colony Algorithm

By applying improved ant colony algorithm, this paper analyzed multi-objective design problem in optimal design of cam mechanism profile curve, which were then transformed into TSP problem, that is, multi-objective function minimization problem into TSP shortest path searching problem. For the multiple complex variables and target weight parameters in design, a concept of multidimensional space node in ant colony optimization path was proposed, converting multi-objective function with weight coefficient into a multidimensional space nodes (city).At the same time, improved ant colony algorithm, combined with genetic algorithm, was used to avoid optimization calculation falling into a locally optimal solution. Exemplified by dual objective function in cam mechanism profile curve design, this paper solved optimal value problem of dual objective optimization design involving the biggest fullness coefficient and minimum abrasion quantity of variable weight coefficient under the three-dimensional parameters n, m and w.

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Application of Variable Weight Coefficient Method in State Evaluation of AC Contactor

MATEC Web of Conferences ◽

10.1051/matecconf/201823203041 ◽

2018 ◽

Vol 232 ◽

pp. 03041

Author(s):

Yuze Su ◽

Zichun Liu ◽

Kai Gao ◽

Guangyu Na ◽

Shuxin Liu

Keyword(s):

Evaluation Method ◽

Great Influence ◽

Fuzzy Comprehensive Evaluation ◽

Weight Coefficient ◽

The State ◽

Evaluation Index System ◽

Constant Weight ◽

State Evaluation ◽

Variable Weight ◽

Coefficient Method

AC contactor state evaluation is a challenging problem. This paper proposes an AC contactor state assessment method based on variable weight coefficient. Firstly, the characteristic indicators that have a great influence on the state of the AC contactor are selected, and the state evaluation index system is established. Secondly, using the subjective and objective combination weighting method combined with the analytic hierarchy process and the grey relational analysis method, the constant weight coefficient is obtained, and the variable weight coefficient method with the equalization function is introduced to obtain the variable weight coefficient of each characteristic parameter. Finally, the fuzzy comprehensive evaluation method is used to evaluate the running state of the AC contactor. The experimental results show that the state evaluation method proposed in this paper can accurately reflect the real state of the AC contactor operation and effectively improve the reliability of the power system.

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Path Tracking of Car-Like Vehicles Based on Variable Weight Model Predictive Control

2018 Chinese Automation Congress (CAC) ◽

10.1109/cac.2018.8623547 ◽

2018 ◽

Cited By ~ 1

Author(s):

Guoxing Bai ◽

Yu Meng ◽

Qing Gu ◽

Weidong Luo ◽

Li Liu

Keyword(s):

Model Predictive Control ◽

Predictive Control ◽

Path Tracking ◽

Variable Weight ◽

Weight Model

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Contrastive Study on Path Tracking Control Methods for Commercial Vehicles

Proceedings of China SAE Congress 2020: Selected Papers - Lecture Notes in Electrical Engineering ◽

10.1007/978-981-16-2090-4_44 ◽

2022 ◽

pp. 733-752

Author(s):

Yaohua Li ◽

Dong Wang ◽

Qianlong Feng ◽

Yang Liu ◽

Youfei Nan

Keyword(s):

Tracking Control ◽

Path Tracking ◽

Control Methods ◽

Commercial Vehicles ◽

Contrastive Study

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Stability-Considered Lane Keeping Control of Commercial Vehicles Based on Improved APF Algorithm

10.21203/rs.3.rs-652627/v1 ◽

2021 ◽

Author(s):

Bin Tang ◽

Zheng-Yi Yang ◽

Hao-bin Jiang ◽

Zi-yan Lin ◽

Zhan-xiang Xu ◽

...

Keyword(s):

Control Strategy ◽

Potential Field ◽

Path Tracking ◽

Lyapunov Theory ◽

Lateral Acceleration ◽

Lateral Stability ◽

Tracking Accuracy ◽

Commercial Vehicles ◽

Field Function ◽

Lane Keeping

Abstract With regard to the lane keeping system, path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass, longer wheelbase and higher mass center. To improve the performance mentioned above comprehensively, the control strategy based on improved artificial potential field (APF) algorithm is proposed. In the paper, time to lane crossing (TLC) is introduced into the potential field function to enhance the accuracy of path tracking, meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source. The lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory. In addition, adaptive inertial weight particle swarm optimization algorithm (AIWPSO) is applied to optimize the gain of each potential field function. The co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced remarkably. Finally, the proposed control strategy is verified by the HiL test.

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