scholarly journals Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Kai Wang ◽  
Weiping Ding ◽  
Mingliang Yang ◽  
Qiao Zhu
Keyword(s):  
Motion Control ◽  
Path Following ◽  
Stability Control ◽  
Path Tracking ◽  
Lateral Motion ◽  
Tracking Accuracy ◽  
Dynamic Boundary ◽  
Path Following Control ◽  
Yaw Stability ◽  
The Impact

AbstractTo improve the path tracking accuracy and yaw stability of distributed drive autonomous vehicles (DDAVs) under extreme working conditions, a cooperative lateral motion control method based on the dynamic boundary is proposed to prevent different road adhesion conditions from affecting the motion stability of DDAVs. Based on the analysis of the DDAV lateral dynamics system coordination mechanism, a dynamic boundary considering the pavement adhesion coefficient is proposed, and the Lateral Motion Synergistic Control System (LMSCS) is designed. The LMSCS is divided into the coordination, control, and executive layers. The coordination layer divides the control domain into the stable, quasi-stable, and unstable domains by the dynamic boundary, and coordinates the control strength of the path following control and yaw stability control. In the control layer, the path following control and yaw stability control laws are designed based on the global fast terminal sliding mode. The executive layer estimates the expected steering wheel angle and expected additional wheel torque. Joint simulations under double line shifting conditions confirmed that LMSCS reflects the impact of the road attachment conditions and improves the path tracking accuracy and vehicle yaw stability. The LMSCS has better overall performance than existing lateral motion control methods.

Vision-based curved lane keeping control for intelligent vehicle highway system

2018 ◽  
Vol 233 (8) ◽  
pp. 961-979 ◽  
Author(s):  
Kawther Osman ◽  
Jawhar Ghommam ◽  
Hasan Mehrjerdi ◽  
Maarouf Saad
Keyword(s):  
Motion Control ◽  
Control Design ◽  
Path Following ◽  
Intelligent Vehicle ◽  
Lateral Motion ◽  
Vision Sensor ◽  
Motion Error ◽  
Guidance Algorithm ◽  
Lane Keeping ◽  
Highway System

This article addresses the coordinated longitudinal and lateral motion control for an intelligent vehicle highway system. The strategy of this work consists of defining the edges of the traveled lane using a vision sensor. According to the detected boundaries, a constrained path-following method is proposed to drive the longitudinal and the lateral vehicle’s motion. Error constraints of the intelligent vehicle highway system position are manipulated by including the function of barrier Lyapunov in designing the guidance algorithm for the intelligent vehicle highway system. To calculate the necessary forces that would steer the vehicle to the desired path, a control design is proposed that integrates the sign of the error for the compensation of the uncertain vehicle’s parameters. The Lyapunov function is later used to minimize the path-following errors and to guarantee a stable system. The efficiency of the developed approach is proved by numerical simulations.

Robust guaranteed-cost path-following control for autonomous vehicles on unstructured roads

2017 ◽  
Vol 232 (7) ◽  
pp. 896-908 ◽  
Author(s):  
Jinghua Guo ◽  
Jin Wang ◽  
Ping Hu ◽  
Linhui Li
Keyword(s):  
Control System ◽  
Autonomous Vehicles ◽  
Path Following ◽  
Detection Algorithm ◽  
Parametric Uncertainties ◽  
Tracking Accuracy ◽  
Position Information ◽  
Path Following Control ◽  
Control Scheme ◽  
Guaranteed Cost

This paper deals with the problem of automatic path-following control for a class of autonomous vehicle systems with parametric uncertainties and external disturbances in cross-country conditions. In the unstructured environments, the unevenness, the discontinuity and the variability of the terrain greatly increase the parametric uncertainties and the external perturbations of autonomous vehicles. To overcome these difficulties, a novel automatic path-following control scheme of vision-based autonomous vehicles is presented by utilizing the guaranteed-cost control theory. First, a new road detection algorithm used for segmenting and extracting the traversable path in unstructured terrains is achieved by using a combination consisting of multiple sensors, and the local relative position information between the vehicles and the desired trajectories can be acquired by the proposed detected algorithm in real time. Then, an optimal guaranteed-cost path-following control system is proposed, which can deal with the parametric uncertainties of autonomous vehicles and ensure the stability of the closed-loop control system. Finally, both simulation tests and experimental results demonstrate that the proposed control scheme can guarantee high path-tracking accuracy irrespective of the parametric uncertainties.

scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Path Following ◽  
Coordinate Space ◽  
Vehicle Model ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
And Control

This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.

Autonomous Motion Control of a Wheel Loader

2009 ◽  
Author(s):  
Reza Ghabcheloo ◽  
Mika Hyvo¨nen ◽  
Jarno Uusisalo ◽  
Otso Karhu ◽  
Juha Ja¨ra¨ ◽  
...  
Keyword(s):  
Motion Control ◽  
Field Experiments ◽  
System Development ◽  
Path Following ◽  
Hardware In The Loop ◽  
Wheel Loader ◽  
Path Following Control ◽  
Test Platform ◽  
Autonomous Motion ◽  
Semi Empirical

This paper addresses the problem of autonomous control of a hydraulically actuated articulated-frame-steering (AFS) mobile machine— a wheel loader. Our autonomous motion control system includes a mission planning graphical user interface, an improved odometry algorithm and a GPS device for navigation purposes, together with a model based path-following control strategy, and speed control. The test platform is a small prototype wheel loader based on Avant-635 whose hydraulic components are substituted by electrically controlled equivalents. System development and preliminary calibrations are done using GIMsim— an elaborated semi-empirical hardware-in-the-loop simulator. Some field experiments are presented that demonstrate satisfactory performance of the system at this stage. Further tunings are required to reach a desired performance.

scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Further Studies on Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-25
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Motion Control ◽  
Deep Level ◽  
Dynamic Environment ◽  
Path Following ◽  
Complex Problem ◽  
Level Control ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
Vehicle Dynamic Model

Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment.

Path Following Control of Tractor-trailers with Off-axle Hitching

2010 ◽  
Vol 36 (9) ◽  
pp. 1272-1278 ◽  
Author(s):  
Huo-Feng ZHOU ◽  
Bao-Li MA ◽  
Li-Hui SONG ◽  
Fang-Fang ZHANG
Keyword(s):  
Path Following ◽  
Path Following Control
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