Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking
This paper proposes a coordinated control system of autonomous vehicles’ lateral stability based on state estimation and path tracking, which contributes to enhancing path-tracking capability and at the same time maintaining the stability of autonomous vehicles driving in complex and dynamic road co...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/3/328 |
| _version_ | 1827748966650871808 |
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| author | Jun Liu Haohao Liu Jingjing Wang Honggang Gu |
| author_facet | Jun Liu Haohao Liu Jingjing Wang Honggang Gu |
| author_sort | Jun Liu |
| collection | DOAJ |
| description | This paper proposes a coordinated control system of autonomous vehicles’ lateral stability based on state estimation and path tracking, which contributes to enhancing path-tracking capability and at the same time maintaining the stability of autonomous vehicles driving in complex and dynamic road conditions. First, an extended Kalman filter observer is designed to estimate the vehicle parameters. Then, based on the single-point preview theory, an adaptive preview time model is built for the accuracy of path tracking. When designing the direct yaw-moment controller, sideslip angle and yaw rate, two critical parameters for lateral dynamic stability control are considered, and the single-wheel braking method is utilized to reasonably distribute the additional yaw moment to a certain wheel. To make full use of active front steering and direct yaw-moment control, the critical steering angle of the front wheel is determined, and a switching function is formulated. Co-simulation shows that the suggested coordinated control system can effectively strengthen maneuvering stability and simultaneously satisfy tracking accuracy. |
| first_indexed | 2024-03-11T06:16:19Z |
| format | Article |
| id | doaj.art-745ca7159446440f9da8a630c83c61eb |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T06:16:19Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-745ca7159446440f9da8a630c83c61eb2023-11-17T12:14:58ZengMDPI AGMachines2075-17022023-02-0111332810.3390/machines11030328Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path TrackingJun Liu0Haohao Liu1Jingjing Wang2Honggang Gu3School of Automotive and Traffic Engineering, Jiangsu University, 301 Xuefu Road, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, 301 Xuefu Road, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, 301 Xuefu Road, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, 301 Xuefu Road, Zhenjiang 212013, ChinaThis paper proposes a coordinated control system of autonomous vehicles’ lateral stability based on state estimation and path tracking, which contributes to enhancing path-tracking capability and at the same time maintaining the stability of autonomous vehicles driving in complex and dynamic road conditions. First, an extended Kalman filter observer is designed to estimate the vehicle parameters. Then, based on the single-point preview theory, an adaptive preview time model is built for the accuracy of path tracking. When designing the direct yaw-moment controller, sideslip angle and yaw rate, two critical parameters for lateral dynamic stability control are considered, and the single-wheel braking method is utilized to reasonably distribute the additional yaw moment to a certain wheel. To make full use of active front steering and direct yaw-moment control, the critical steering angle of the front wheel is determined, and a switching function is formulated. Co-simulation shows that the suggested coordinated control system can effectively strengthen maneuvering stability and simultaneously satisfy tracking accuracy.https://www.mdpi.com/2075-1702/11/3/328extended Kalman filterpath trackingsliding mode controldirect yaw-moment controlcoordinated control |
| spellingShingle | Jun Liu Haohao Liu Jingjing Wang Honggang Gu Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking Machines extended Kalman filter path tracking sliding mode control direct yaw-moment control coordinated control |
| title | Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking |
| title_full | Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking |
| title_fullStr | Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking |
| title_full_unstemmed | Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking |
| title_short | Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking |
| title_sort | coordinated lateral stability control of autonomous vehicles based on state estimation and path tracking |
| topic | extended Kalman filter path tracking sliding mode control direct yaw-moment control coordinated control |
| url | https://www.mdpi.com/2075-1702/11/3/328 |
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