Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory
Commercial vehicles generally drive at a higher speed on structured expressways, and their higher center of mass leads to a lower rollover threshold and a greater rollover risk while steering. Therefore, the design of a lateral trajectory-tracking control strategy for commercial vehicles should not...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/3/382 |
| _version_ | 1797610608579837952 |
|---|---|
| author | Zhixian Fan Yang Yan Xiangyu Wang Haizhu Xu |
| author_facet | Zhixian Fan Yang Yan Xiangyu Wang Haizhu Xu |
| author_sort | Zhixian Fan |
| collection | DOAJ |
| description | Commercial vehicles generally drive at a higher speed on structured expressways, and their higher center of mass leads to a lower rollover threshold and a greater rollover risk while steering. Therefore, the design of a lateral trajectory-tracking control strategy for commercial vehicles should not only consider the accuracy of trajectory tracking but also consider roll stability. Based on this control objective, a fuzzy linear quadratic controller was designed in this study to ensure rolling stability in the path-tracking control process and improve the adaptability of the strategy to the driving scenario. Firstly, a steering and braking cooperative control model based on the four-degree-of-freedom model and the multi-point preview model was established. Then, a path tracking controller considering roll stability was designed based on the linear quadratic theory. On this basis, a fuzzy linear quadratic controller was designed to realize the online optimization of cost function weights. Finally, the effectiveness of the control strategy was verified using co-simulation and hardware-in-loop experiments. The results show that the designed controller can effectively adjust the weight of path-tracking and stability according to the vehicle’s state. This effectively improves the vehicle’s control distribution problem. |
| first_indexed | 2024-03-11T06:16:38Z |
| format | Article |
| id | doaj.art-c82a6b89c60f42508f39971abe2421de |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T06:16:38Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-c82a6b89c60f42508f39971abe2421de2023-11-17T12:15:44ZengMDPI AGMachines2075-17022023-03-0111338210.3390/machines11030382Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic TheoryZhixian Fan0Yang Yan1Xiangyu Wang2Haizhu Xu3School of Vehicle and Mobility, Tsinghua University, Beijing 100084, ChinaZhongtong Bus Co., Ltd., Liaocheng 252000, ChinaSchool of Vehicle and Mobility, Tsinghua University, Beijing 100084, ChinaZhongtong Bus Co., Ltd., Liaocheng 252000, ChinaCommercial vehicles generally drive at a higher speed on structured expressways, and their higher center of mass leads to a lower rollover threshold and a greater rollover risk while steering. Therefore, the design of a lateral trajectory-tracking control strategy for commercial vehicles should not only consider the accuracy of trajectory tracking but also consider roll stability. Based on this control objective, a fuzzy linear quadratic controller was designed in this study to ensure rolling stability in the path-tracking control process and improve the adaptability of the strategy to the driving scenario. Firstly, a steering and braking cooperative control model based on the four-degree-of-freedom model and the multi-point preview model was established. Then, a path tracking controller considering roll stability was designed based on the linear quadratic theory. On this basis, a fuzzy linear quadratic controller was designed to realize the online optimization of cost function weights. Finally, the effectiveness of the control strategy was verified using co-simulation and hardware-in-loop experiments. The results show that the designed controller can effectively adjust the weight of path-tracking and stability according to the vehicle’s state. This effectively improves the vehicle’s control distribution problem.https://www.mdpi.com/2075-1702/11/3/382path tracking controlroll stability controlfuzzy linear quadratic controller |
| spellingShingle | Zhixian Fan Yang Yan Xiangyu Wang Haizhu Xu Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory Machines path tracking control roll stability control fuzzy linear quadratic controller |
| title | Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory |
| title_full | Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory |
| title_fullStr | Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory |
| title_full_unstemmed | Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory |
| title_short | Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory |
| title_sort | path tracking control of commercial vehicle considering roll stability based on fuzzy linear quadratic theory |
| topic | path tracking control roll stability control fuzzy linear quadratic controller |
| url | https://www.mdpi.com/2075-1702/11/3/382 |
| work_keys_str_mv | AT zhixianfan pathtrackingcontrolofcommercialvehicleconsideringrollstabilitybasedonfuzzylinearquadratictheory AT yangyan pathtrackingcontrolofcommercialvehicleconsideringrollstabilitybasedonfuzzylinearquadratictheory AT xiangyuwang pathtrackingcontrolofcommercialvehicleconsideringrollstabilitybasedonfuzzylinearquadratictheory AT haizhuxu pathtrackingcontrolofcommercialvehicleconsideringrollstabilitybasedonfuzzylinearquadratictheory |