An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking
AbstractIn this paper, an optimal controller for integrated longitudinal and lateral closed loop vehicle/driver dynamics proposed to follow desired path in various driving maneuvers, which also improved maneuverability and stability of vehicle over desired path. Designed controller imposed corrected...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Marcílio Alves
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| Series: | Latin American Journal of Solids and Structures |
| Subjects: | |
| Online Access: | http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252015000601006&lng=en&tlng=en |
| _version_ | 1811280606446747648 |
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| author | Nematollah Tavan Mehdi Tavan Rana Hosseini |
| author_facet | Nematollah Tavan Mehdi Tavan Rana Hosseini |
| author_sort | Nematollah Tavan |
| collection | DOAJ |
| description | AbstractIn this paper, an optimal controller for integrated longitudinal and lateral closed loop vehicle/driver dynamics proposed to follow desired path in various driving maneuvers, which also improved maneuverability and stability of vehicle over desired path. Designed controller imposed corrected steering angle and torque on the wheels to keep the vehicle on the desired trajectory whilst modified its handling properties. In the next stage, performance of proposed optimal linear quadratic regulator (LQR) controller compared with Proportional-integrated-derivative (PID) one. The proposed controllers has been implemented on vehicle eight degree of freedom model in MATLAB/Simulink. Then the effects of adaptive controller on vehicle path following has been examined for various maneuvers, by driving on the lane change, J-turn, double lane-change and desired tracks. Finally, longitudinal dynamic performance of vehicle has been investigated during severe braking conditions. Simulation results indicated the dominate efficiency of controller on the vehicle stabilization and path following. Also, it improved longitudinal dynamics performance by preventing wheel lock and reducing stopping distance. |
| first_indexed | 2024-04-13T01:17:51Z |
| format | Article |
| id | doaj.art-844bba3c39394f50ad88f179900e6791 |
| institution | Directory Open Access Journal |
| issn | 1679-7825 |
| language | English |
| last_indexed | 2024-04-13T01:17:51Z |
| publisher | Marcílio Alves |
| record_format | Article |
| series | Latin American Journal of Solids and Structures |
| spelling | doaj.art-844bba3c39394f50ad88f179900e67912022-12-22T03:08:51ZengMarcílio AlvesLatin American Journal of Solids and Structures1679-78251261006102310.1590/1679-78251365S1679-78252015000601006An optimal integrated longitudinal and lateral dynamic controller development for vehicle path trackingNematollah TavanMehdi TavanRana HosseiniAbstractIn this paper, an optimal controller for integrated longitudinal and lateral closed loop vehicle/driver dynamics proposed to follow desired path in various driving maneuvers, which also improved maneuverability and stability of vehicle over desired path. Designed controller imposed corrected steering angle and torque on the wheels to keep the vehicle on the desired trajectory whilst modified its handling properties. In the next stage, performance of proposed optimal linear quadratic regulator (LQR) controller compared with Proportional-integrated-derivative (PID) one. The proposed controllers has been implemented on vehicle eight degree of freedom model in MATLAB/Simulink. Then the effects of adaptive controller on vehicle path following has been examined for various maneuvers, by driving on the lane change, J-turn, double lane-change and desired tracks. Finally, longitudinal dynamic performance of vehicle has been investigated during severe braking conditions. Simulation results indicated the dominate efficiency of controller on the vehicle stabilization and path following. Also, it improved longitudinal dynamics performance by preventing wheel lock and reducing stopping distance.http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252015000601006&lng=en&tlng=enVehicle path followinghandlingoptimal controllerintegrated lateral & longitudinal dynamic |
| spellingShingle | Nematollah Tavan Mehdi Tavan Rana Hosseini An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking Latin American Journal of Solids and Structures Vehicle path following handling optimal controller integrated lateral & longitudinal dynamic |
| title | An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking |
| title_full | An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking |
| title_fullStr | An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking |
| title_full_unstemmed | An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking |
| title_short | An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking |
| title_sort | optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking |
| topic | Vehicle path following handling optimal controller integrated lateral & longitudinal dynamic |
| url | http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252015000601006&lng=en&tlng=en |
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