Integrated Control of Path Following and Lateral Stability for Unmanned Autonomous Vehicle with Decentralized Driving System

As a basis of hierarchical control structure, this paper proposes an integrated control approach of path following and lateral stability for unmanned autonomous vehicle with decentralized driving system. In the upper layer controller, the Sliding Mode Control theory is used to reduce the path following heading error and lateral offset while ensuring the vehicle stability. In the lower layer controller, the optimal tire force allocation method is used to execute the control demand from the upper controller. The CarSim-Simulink co-simulation results verify the effectiveness of the proposed approach.

[1]  Yoichi Hori,et al.  Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II" , 2004, IEEE Transactions on Industrial Electronics.

[2]  Sebastian Thrun,et al.  Stanley: The robot that won the DARPA Grand Challenge , 2006, J. Field Robotics.

[3]  Jorge L. Martínez,et al.  Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner , 2009, EURASIP J. Adv. Signal Process..

[4]  Keqiang Li,et al.  An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation , 2013 .

[5]  E. Kim,et al.  Model predictive control strategy for smooth path tracking of autonomous vehicles with steering actuator dynamics , 2014 .

[6]  Auday Al-Mayyahi,et al.  Path tracking of autonomous ground vehicle based on fractional order PID controller optimized by PSO , 2015, 2015 IEEE 13th International Symposium on Applied Machine Intelligence and Informatics (SAMI).

[7]  Majid Majidi,et al.  Integrated robust controller for vehicle path following , 2015 .

[8]  Dejun Yin,et al.  A new hierarchical yaw Stability Control approach for Four-Wheel Independent Driving electric vehicles , 2016, 2016 35th Chinese Control Conference (CCC).

[9]  Philip Koopman,et al.  Autonomous Vehicle Safety: An Interdisciplinary Challenge , 2017, IEEE Intelligent Transportation Systems Magazine.

[10]  Yan Wang,et al.  Coordination Control of Differential Drive Assist Steering and Vehicle Stability Control for Four-Wheel-Independent-Drive EV , 2018, IEEE Transactions on Vehicular Technology.

[11]  Yingfeng Cai,et al.  Simultaneous path following and lateral stability control of 4WD-4WS autonomous electric vehicles with actuator saturation , 2019, Adv. Eng. Softw..