Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads
This paper presents a comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low-friction roads. Generally, a path-tracking controller designed on high-friction roads cannot provide good performance under low-friction conditions. To cope with the p...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/11/398 |
| _version_ | 1827640992214286336 |
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| author | Manbok Park Seongjin Yim |
| author_facet | Manbok Park Seongjin Yim |
| author_sort | Manbok Park |
| collection | DOAJ |
| description | This paper presents a comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low-friction roads. Generally, a path-tracking controller designed on high-friction roads cannot provide good performance under low-friction conditions. To cope with the problem, a coordinated control between path tracking and vehicle stability has been proposed to date. In this paper, three types of coordinated controllers are classified according to the controller structure. As an actuator, front-wheel steering, four-wheel steering, and four-wheel independent braking and driving are adopted. A common feature of these types of controllers is that front steering and yaw moment control are adopted as control inputs. To convert the yaw moment control into tire forces generated by combinations of multiple actuators, a control allocation method is applied. For each type, a controller is designed and simulated using vehicle simulation software. From the simulation results, a performance comparison among those controller types is carried out. Through comparison, it is shown that there are small differences among those types of controllers in terms of path tracking. |
| first_indexed | 2024-03-09T17:07:12Z |
| format | Article |
| id | doaj.art-3f8cfaeb64ab453cb84d06cf2a07a01d |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T17:07:12Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-3f8cfaeb64ab453cb84d06cf2a07a01d2023-11-24T14:22:29ZengMDPI AGActuators2076-08252023-10-01121139810.3390/act12110398Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction RoadsManbok Park0Seongjin Yim1Department of Electronic Engineering, Korea National University of Transportation, Chungju-si 27469, Republic of KoreaResearch Center for Electrical and Information Technology, Seoul National University of Science and Technology, Nowon-gu, Seoul 01811, Republic of KoreaThis paper presents a comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low-friction roads. Generally, a path-tracking controller designed on high-friction roads cannot provide good performance under low-friction conditions. To cope with the problem, a coordinated control between path tracking and vehicle stability has been proposed to date. In this paper, three types of coordinated controllers are classified according to the controller structure. As an actuator, front-wheel steering, four-wheel steering, and four-wheel independent braking and driving are adopted. A common feature of these types of controllers is that front steering and yaw moment control are adopted as control inputs. To convert the yaw moment control into tire forces generated by combinations of multiple actuators, a control allocation method is applied. For each type, a controller is designed and simulated using vehicle simulation software. From the simulation results, a performance comparison among those controller types is carried out. Through comparison, it is shown that there are small differences among those types of controllers in terms of path tracking.https://www.mdpi.com/2076-0825/12/11/398autonomous vehiclepath-tracking controlvehicle stability controllinear quadratic regulatorcontrol allocationlow-friction condition |
| spellingShingle | Manbok Park Seongjin Yim Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads Actuators autonomous vehicle path-tracking control vehicle stability control linear quadratic regulator control allocation low-friction condition |
| title | Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads |
| title_full | Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads |
| title_fullStr | Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads |
| title_full_unstemmed | Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads |
| title_short | Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads |
| title_sort | comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low friction roads |
| topic | autonomous vehicle path-tracking control vehicle stability control linear quadratic regulator control allocation low-friction condition |
| url | https://www.mdpi.com/2076-0825/12/11/398 |
| work_keys_str_mv | AT manbokpark comparativestudyoncoordinatedcontrolofpathtrackingandvehiclestabilityforautonomousvehiclesonlowfrictionroads AT seongjinyim comparativestudyoncoordinatedcontrolofpathtrackingandvehiclestabilityforautonomousvehiclesonlowfrictionroads |