Experimental Validations on Vision-Based Path Tracking With Preview Four Wheel Steering Control

2019 ◽  
Author(s):  
Yansong Peng ◽  
Fengchen Wang ◽  
Saikrishna Gurumoorthy ◽  
Yan Chen ◽  
Mutian Xin
Keyword(s):  
Tracking Control ◽  
Low Cost ◽  
Experimental Tests ◽  
Front Wheel ◽  
Path Tracking ◽  
Steering Control ◽  
Tracking Errors ◽  
The Road ◽  
Experimental Validations ◽  
Lateral Offset

Abstract In this paper, a vision-based path-tracking control strategy using four-wheel steering (4WS) is experimentally investigated via an automated ground vehicle (AGV). A low-cost monocular camera is used to continuously perceive the upcoming lane boundaries via capturing the preview road image frames. Based on the applied image processing algorithms, the vehicle lateral offset error with respect to the road center line and the heading angle error with respect to the road curvature are calculated in real time for the control purpose. The 4WS path-tracking controller is designed to minimize the two path-tracking errors of the AGV. The AGV with the 4WS system is utilized to perform the experimental tests on road to validate the path-tracking control design. For comparison, the road test is also conducted for the path-tracking control with only the front wheel steering. The experimental results show that the proposed 4WS is able to achieve better path-tracking performance.

Differential steering-based electric vehicle lateral dynamics control with rollover consideration

2019 ◽  
Vol 234 (3) ◽  
pp. 338-348
Author(s):  
Hui Jing ◽  
Rongrong Wang ◽  
Cong Li ◽  
Jinxiang Wang
Keyword(s):  
Electric Vehicles ◽  
Measurement Problem ◽  
Low Cost ◽  
Steering System ◽  
Front Wheel ◽  
Steering Control ◽  
Lateral Velocity ◽  
Lateral Dynamics ◽  
Vehicle Rollover ◽  
Differential Steering

This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

scholarly journals Research on Curved Path Tracking Control for Four-Wheel Steering Vehicle considering Road Adhesion Coefficient

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Runqiao Liu ◽  
Minxiang Wei ◽  
Nan Sang ◽  
Jianwei Wei
Keyword(s):  
Autonomous Vehicles ◽  
Tracking Control ◽  
Spline Interpolation ◽  
Lateral Displacement ◽  
Autonomous Vehicle ◽  
State Parameter ◽  
Front Wheel ◽  
Path Tracking ◽  
Adhesion Coefficient ◽  
Polar Coordinate

Curved path tracking control is one of the most important functions of autonomous vehicles. First, small turning radius circular bends considering bend quadrant and travel direction restrictions are planned by polar coordinate equations. Second, an estimator of a vehicle state parameter and road adhesion coefficient based on an extended Kalman filter is designed. To improve the convenience and accuracy of the estimator, the combined slip theory, trigonometric function group fitting, and cubic spline interpolation are used to estimate the longitudinal and lateral forces of the tire model (215/55 R17). Third, to minimize the lateral displacement and yaw angle tracking errors of a four-wheel steering (4WS) vehicle, the front-wheel steering angle of the 4WS vehicle is corrected by a model predictive control (MPC) feed-back controller. Finally, CarSim® simulation results show that the 4WS autonomous vehicle based on the MPC feed-back controller can not only significantly improve the curved path tracking performance but also effectively reduce the probability of drifting or rushing out of the runway at high speeds and on low-adhesion roads.

scholarly journals Practical Approach for Developing Lateral Motion Control of Autonomous Lane Change System

2020 ◽  
Vol 10 (9) ◽  
pp. 3143 ◽  
Author(s):  
Jaemin Baek ◽  
Changmook Kang ◽  
Wonhee Kim
Keyword(s):  
Vehicle Dynamics ◽  
Low Cost ◽  
Computation Time ◽  
Practical Approach ◽  
Lane Changes ◽  
The Road ◽  
Control Units ◽  
Vision Sensors ◽  
Lateral Offset ◽  
Change System

In this paper, we present a practical approach to address the vehicle lateral control problem. The proposed method can overcome practical problems associated with vehicle lane changes on highways. The vehicle state with respect to the road, which is called lateral offset, jumps in camera vision sensors when the vehicle changes lanes. Thus, in this study, we solve the state jump problem by translating it into a new domain called the cylinder domain. In addition, we proposed the design of a parameter-varying controller to overcome the nonlinear term of vehicle dynamics by considering it as a varying parameter. The proposed method does not consider the lateral offset jump when changing lanes. Furthermore, its significant advantage in terms of computation time makes it suitable for implementation in low-cost electronic control units (ECUs). The proposed algorithm is validated using MATLAB/Simulink with the vehicle dynamics analysis program CarSim.

scholarly journals Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Yiding Hua ◽  
Haobin Jiang ◽  
Yingfeng Cai ◽  
Xupei Zhang ◽  
Shidian Ma ◽  
...  
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Control Method ◽  
Simulation Analysis ◽  
Cloud Model ◽  
Kinematic Model ◽  
Path Tracking ◽  
Steering Control ◽  
Parking System ◽  
Automatic Parking

This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

Autonomous vehicle path tracking control considering the stability under lane change

2021 ◽  
pp. 095965182199135
Author(s):  
Xiaolong Chen ◽  
Bing Zhou ◽  
Xiaojian Wu
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Unscented Kalman Filter ◽  
Linear Time ◽  
Autonomous Vehicle ◽  
Path Tracking ◽  
Steering Angle ◽  
Adhesion Coefficient ◽  
The Road ◽  
Vehicle Path

Considering that when a vehicle travels on a low friction coefficient road with high speed, the path tracking ability declines. To keep the performance of path tracking and improve the stabilization under that situation, this article presents approaches to estimate the parameters and control the vehicle. First, the key states of the vehicle and the road adhesion coefficient are estimated by the unscented Kalman filter. This is followed by applying the linear time-varying model-based predictive controller to achieve path tracking control, and the initial tire steering angle control rate is obtained. Finally, the steering angle compensation controller is simultaneously designed by a simple receding horizon corrector algorithm to improve vehicle stability when the path is tracked on a low-adhesion coefficient or at high speed. The performance of the proposed approach is evaluated by software CarSim and MATLAB/Simulink. Simulation results show that an improvement in the performance of path tracking and stabilization can be achieved by the integrated controller under the variable road adhesion coefficient condition and high speed with 110 km/h.

Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
K. D. Do
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Tracking Control ◽  
Lévy Processes ◽  
Control Design ◽  
Levy Processes ◽  
Path Tracking ◽  
Tracking Errors ◽  
Hamilton Jacobi Bellman ◽  
And Control

Abstract This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

scholarly journals Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

2022 ◽  
Vol 35 (1) ◽  
Author(s):  
Ying Tian ◽  
Qiangqiang Yao ◽  
Peng Hang ◽  
Shengyuan Wang
Keyword(s):  
Control Strategy ◽  
Autonomous Vehicles ◽  
Tracking Control ◽  
High Speed ◽  
Front Wheel ◽  
Path Tracking ◽  
Vehicle Stability ◽  
Tracking Accuracy ◽  
Large Curvature ◽  
Yaw Moment

AbstractIt is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions. In this study, an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm. The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model. To adaptively adjust the priorities of path tracking accuracy and vehicle stability, an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function. An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions. To ensure vehicle stability, the sideslip angle, yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame. It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and large-curvature conditions.

scholarly journals Development and Testing of a Low-Cost Wireless Monitoring System for an Intelligent Tire

Machines ◽  
2019 ◽  
Vol 7 (3) ◽  
pp. 49 ◽  
Author(s):  
Giovanni Breglio ◽  
Andrea Irace ◽  
Lorenzo Pugliese ◽  
Michele Riccio ◽  
Michele Russo ◽  
...  
Keyword(s):  
Monitoring System ◽  
Polyvinylidene Fluoride ◽  
Low Cost ◽  
Experimental Tests ◽  
Cost Effective ◽  
Wireless Monitoring ◽  
The Road ◽  
Research Areas ◽  
Wireless Data Transmission ◽  
On The Road

Intelligent tire concept constitutes one of the approaches to increase the accuracy of active safety systems in vehicle technology. The possibility of detecting tire–road interactions instantaneously has made these systems one of the most important research areas in automotive engineering. This study introduces the use of cost-effective flex and polyvinylidene fluoride strain sensors to estimate some dynamic tire features in free-rolling and real working conditions. The proposed solution combines a microcontroller-based readout circuit for the two sensors with a wireless data transmission system. A suitable prototype was realized and first experimental tests were conducted, in the laboratory as well as on the road. The energy consumption of the wireless monitoring system was optimized. Simulated and experimental results validate the proposed solution.

Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot

Robotica ◽  
2013 ◽  
Vol 32 (1) ◽  
pp. 63-76 ◽  
Author(s):  
F. Hamerlain ◽  
T. Floquet ◽  
W. Perruquetti
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Output Tracking ◽  
Comparative Results ◽  
Twisting Algorithm ◽  
Second Order Sliding Mode

SUMMARYThis paper deals with the problem of the practical tracking control of an experimental car-like system called the Robucar. The car-like Robucar is a four-wheeled car in a single steering mode. Based on a kinematic model of the car-like Robucar, a practical tracking controller is designed using the second-order sliding mode control of the super twisting algorithm. Hence, the output tracking of the desired trajectory is achieved, and the tracking errors vanish asymptotically. Experimental tests on the car-like Robucar are presented for simple and real-time nonholonomic trajectories, and comparative results with the conventional sliding controller demonstrate the applicability and efficiency of the proposed controller.

scholarly journals Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Majid Taheri Andani ◽  
Zahra Ramezani ◽  
Saeed Moazami ◽  
Jinde Cao ◽  
Mohammad Mehdi Arefi ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Sliding Mode Controller ◽  
Control Methods ◽  
Lyapunov Theorem ◽  
Spherical Robot ◽  
Tracking Errors ◽  
Advanced Control ◽  
Overall Stability

Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot’s transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot’s tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.

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