AN OPTIMAL INTEGRATED LONGITUDINAL AND LATERAL DYNAMIC CONTROLLER DEVELOPMENT FOR VEHICLE PATH TRACKING

In 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.

[1]  David Crolla,et al.  A Coordination Approach for DYC and Active Front Steering , 2001 .

[2]  Zengcai Wang,et al.  Coordinated control of AFS and DYC for vehicle handling and stability based on optimal guaranteed cost theory , 2009 .

[3]  Péter Gáspár,et al.  Integrated vehicle dynamics control via coordination of active front steering and rear braking , 2013, Eur. J. Control.

[4]  Mehdi Mirzaei,et al.  A new approach for modelling and control of two-wheel anti-lock brake systems , 2011 .

[5]  Timothy Gordon,et al.  An automated driver based on convergent vector fields , 2002 .

[6]  Avesta Goodarzi,et al.  Automatic path control based on integrated steering and external yaw-moment control , 2008 .

[7]  Mehdi Mirzaei,et al.  A new strategy for minimum usage of external yaw moment in vehicle dynamic control system , 2010 .

[8]  Kyongsu Yi,et al.  Design and Testing of a Controller for Autonomous Vehicle Path Tracking Using GPS/INS Sensors , 2008 .

[9]  Houjun Tang,et al.  Studies on improving vehicle handling and lane keeping performance of closed-loop driver-vehicle system with integrated chassis control , 2010, Math. Comput. Simul..

[10]  Kazuyuki Okada,et al.  IMPROVEMENT OF VEHICLE HANDLING BY NONLINEAR INTEGRATED CONTROL OF FOUR WHEEL STEERING AND FOUR WHEEL TORQUE , 1999 .

[11]  Zhang Wei,et al.  Self-tuning fuzzy PID applied to direct yaw moment control for vehicle stability , 2009, 2009 9th International Conference on Electronic Measurement & Instruments.

[12]  Rana Hosseini,et al.  Vehicle path following control in the presence of driver inputs , 2013 .

[13]  Seyyed M. Hasheminejad,et al.  Active vibration control of an arbitrary thick piezolaminated beam with imperfectly integrated sensor and actuator layers , 2014 .

[14]  N. Munro,et al.  PID controllers: recent tuning methods and design to specification , 2002 .

[15]  Masato Abe,et al.  Vehicle Handling Dynamics: Theory and Application , 2009 .

[16]  Seibum B. Choi,et al.  A driver model for vehicle lateral dynamics , 2011 .

[17]  Mehdi Mirzaei,et al.  A novel method for non-linear control of wheel slip in anti-lock braking systems , 2010 .

[18]  Reza Kazemi,et al.  A New Sliding Mode Controller for Four-Wheel Anti-Lock Braking System (ABS) , 2000 .

[19]  Luciano Alonso,et al.  Self-tuning PID controller for autonomous car tracking in urban traffic , 2013, 2013 17th International Conference on System Theory, Control and Computing (ICSTCC).

[20]  Seung-Jin Heo,et al.  Design of Integrated Chassis Control logics for AFS and ESP , 2008 .

[21]  Atta Oveisi,et al.  A path-following driver/vehicle model with optimized lateral dynamic controller , 2014 .

[22]  Junya Takahashi,et al.  Comparison and combination of direct yaw-moment control and G-Vectoring control , 2012 .

[23]  Rodrigue Tchamna,et al.  Yaw rate and side-slip control considering vehicle longitudinal dynamics , 2013 .

[24]  B. Mashadi,et al.  Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle , 2014 .

[25]  Donald E. Kirk,et al.  Optimal control theory : an introduction , 1970 .

[26]  Chen Jie,et al.  Comparisons of 4WS and Brake-FAS based on IMC for vehicle stability control , 2011 .

[27]  João Borges de Sousa,et al.  A Dynamic Programming Based Path-following Controller for Autonomous Vehicles , 2011, Control. Intell. Syst..

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

[29]  M Abe.  Vehicle dynamics and control for improving handling and active safety: From four-wheel steering to direct yaw moment control , 1999 .

[30]  Jianhua Guo,et al.  Coordinated Control of Electronic Stability Program and Active Front Steering , 2012 .

[31]  Junmin Wang,et al.  Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling , 2014 .