Skip to main content
SpringerLink
Log in

A Novel Lateral Control Approach for Path Tracking of Automated Vehicles Based on Flow Guidance

  • Conference paper
  • First Online:
6th International Technical Conference on Advances in Computing, Control and Industrial Engineering (CCIE 2021) (CCIE 2021)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 920))

  • 1026 Accesses

Abstract

Lateral control has been the most vital problem for vehicle control, especially in the context of automated driving. This paper presents a novel lateral control approach based on the concept of flow guidance for automated vehicles. With pre-planned digitized desired path, a convergent flow field of reference velocity vector is generated. Variable preview distance is designed to increase both stability and path-tracking performance based on lateral deviation, lateral acceleration limit, and longitudinal speed reference. Then a feedforward + feedback steering control architecture is adopted to follow the reference velocity vector. Meanwhile, vehicle state estimation of position and velocity is designed for lateral control implementation. Simulations in MATLAB/Simulink and IPG CarMaker are designed to examine the effectiveness of the proposed control approach and comparisons are carried out with a state-of-the-art standard driver model. Results show that the proposed lateral can achieve satisfactory path-tracking performance while maintaining vehicle stability.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 329.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Segel, L.: Theoretical prediction and experimental substantiation of the response of the automobile to steering control. IMech.E: Auto. Div. 10(1), 310–330 (1956)

    Google Scholar 

  2. Senders, J.W., et al.: The attentional demand of automobile driving. In: Proceedings of the 46th Highway Research Record, pp.15–33 (1967)

    Google Scholar 

  3. James, C., Walter, W.: Development of a strategy model of the driver in lane keeping. Veh. Syst. Dyn. 7(4), 233–253 (1978)

    Article  MathSciNet  Google Scholar 

  4. Ungoren, A.Y., Peng, H.: An adaptive lateral preview driver model. Veh. Syst. Dyn. 43(4), 245–259 (2005)

    Article  Google Scholar 

  5. McRuer, D.: Human dynamics in man-machine systems. Automatica 16(3), 237–253 (1980)

    Article  Google Scholar 

  6. Allen, R.W., Rosenthal, T.J., Szostak, H.T.: Analytical modeling of driver response in crash avoidance maneuvering–technical background. Tech. Rep. NHTSA 1 (1988)

    Google Scholar 

  7. MacAdam, C.C.: Application of an optimal preview control for simulation of closedloop automobile driving. IEEE Trans. Syst. Man Cybern. 11(6), 393–399 (1981)

    Article  Google Scholar 

  8. Guo, G.H., Guan, H.: Modelling of driver/vehicle directional control system. Veh. Syst. Dyn. 22(3–4), 141–184 (1993)

    Article  Google Scholar 

  9. Fenton, R., Melocik, G.C., Olson, K.: On the steering of automated vehicles: Theory and experiment. IEEE Trans. Automat. Contr. 21(3), 306–315 (1976)

    Article  Google Scholar 

  10. Peng, H., Tomizuka, M.: Vehicle lateral control for highway automation. In: Proceedings of the 1990 American Control Conference, pp.788–794. IEEE, San Diego (1990)

    Google Scholar 

  11. Mouri, H., Furusho, H.: Automatic path tracking using linear quadratic control theory. In: Proceedings of Conference on Intelligent Transportation Systems, pp. 948–953. IEEE, Boston (1997)

    Google Scholar 

  12. Raffo, G.V., et al.: A predictive controller for autonomous vehicle path tracking. IEEE Trans. Intell. Transp. Syst. 10(1), 92–102 (2009)

    Article  Google Scholar 

  13. Cai, L., Rad, A.B., Chan, W.L.: A genetic fuzzy controller for vehicle automatic steering control. IEEE Trans. Veh. Technol. 56(2), 529–543 (2007)

    Article  Google Scholar 

  14. Du, X.X., Htet, K.K.K., Tan, K.K.: Development of a genetic-algorithm based nonlinear model predictive control scheme on velocity and steering of autonomous vehicles. IEEE Trans. Ind. Electron. 63(11), 6970–6977 (2016)

    Article  Google Scholar 

  15. Hindiyeh, R.Y., Gerdes, J.C.: A controller framework for autonomous drifting: Design, stability, and experimental validation. Dyn. Syst. Meas. Control 136(5), 051015–051022 (2014)

    Article  Google Scholar 

  16. Goh, J.Y., Goel, T., Gerdes, J.C.: Toward automated vehicle control beyond the stability limits: Drifting along a general path. J. Dyn. Syst. Meas. Control 142(2), 021004–021013 (2020)

    Article  Google Scholar 

  17. Gordon, T., Best, M.C., Dixonm, P.J.: An automated driver based on convergent vector fields. Proc. I. Mech. Eng. Part D J. Auto. Eng. 216(4), 329–347 (2002)

    Article  Google Scholar 

  18. Rahman, S., et al.: Improved lateral performance of a long combination vehicle based on artificial flow guidance. In: Proceedings of the 27th IAVSD Symposium Dynamic Vehicles, Roads and Tracks. Springer, Saint-Petersburg (2021)

    Google Scholar 

  19. Liu, Q.W., Gordon, T., Rahman, S.: Model-free autonomous control of four-wheel steering using artificial flow guidance. (submitted) Veh. Syst. Dyn. (2021)

    Google Scholar 

Download references

Acknowledgement

This work is partially funded by the National Science Foundation of China with Grant NO. 51875340.

Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Qingwei Liu & Fan Yu

  2. School of Engineering, University of Lincoln, Lincoln, LN6 7TS, UK

    Qingwei Liu, Timothy Gordon & Shammi Rahman

Authors
  1. Qingwei Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Timothy Gordon
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Shammi Rahman
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Fan Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Fan Yu .

Editor information

Editors and Affiliations

  1. Universidad de Guanajuato, Guanajuato, Mexico

    Yuriy S. Shmaliy

  2. Ain Shams University, Cairo, Egypt

    Abdelhalim Abdelnaby Zekry

Rights and permissions

Reprints and permissions

Copyright information

© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Liu, Q., Gordon, T., Rahman, S., Yu, F. (2022). A Novel Lateral Control Approach for Path Tracking of Automated Vehicles Based on Flow Guidance. In: S. Shmaliy, Y., Abdelnaby Zekry, A. (eds) 6th International Technical Conference on Advances in Computing, Control and Industrial Engineering (CCIE 2021). CCIE 2021. Lecture Notes in Electrical Engineering, vol 920. Springer, Singapore. https://doi.org/10.1007/978-981-19-3927-3_10

Download citation

  • DOI: https://doi.org/10.1007/978-981-19-3927-3_10

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-3926-6

  • Online ISBN: 978-981-19-3927-3

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation