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Path tracking framework synthesizing robust model predictive control and stability control for autonomous vehicle
- Source :
- Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 234:2330-2341
- Publication Year :
- 2020
- Publisher :
- SAGE Publications, 2020.
-
Abstract
- This paper proposes a framework for path tracking under additive disturbance when a vehicle travels at high speed or on low-friction road. A decoupling control strategy is adopted, which is made up of robust model predictive control and the stability control combining preview G-vectoring control and direct yaw moment control. A vehicle-road model is adopted for robust model predictive control, and a robust positively invariant set calculated online ensures state constraints in the presence of disturbances. Preview G-vectoring control in stability control generates deceleration and acceleration based on lateral jerk, later acceleration, and curvature at preview point when a vehicle travels through a cornering. Direct yaw moment control with additional activating conditions provides an external yaw moment to stabilize lateral motion and enhances tracking performance. A comparative analysis of stability performance of stability control is presented in simulations, and furthermore, many disturbances are considered, such as varying wind, road friction, and bounded state disturbances from motion planning and decision making. Simulation results show that the stability control combining preview G-vectoring control and direct yaw moment control with additional activating conditions not only guarantees lateral stability but also improves tracking performance, and robust model predictive control endows the overall control system with robustness.
- Subjects :
- 0209 industrial biotechnology
Model predictive control
020901 industrial engineering & automation
0203 mechanical engineering
Electronic stability control
Computer science
Control theory
Mechanical Engineering
Path tracking
Aerospace Engineering
020302 automobile design & engineering
02 engineering and technology
Decoupling (electronics)
Subjects
Details
- ISSN :
- 20412991 and 09544070
- Volume :
- 234
- Database :
- OpenAIRE
- Journal :
- Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
- Accession number :
- edsair.doi...........3dc64d69bba909f7d69a34b718cba115
- Full Text :
- https://doi.org/10.1177/0954407020914666