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Path Following Predictive Control for Autonomous Vehicles Subject to Uncertain Tire-ground Adhesion and Varied Road Curvature

  • Lu Yang
  • Ming YueEmail author
  • Teng Ma
Regular Papers Robot and Applications
  • 26 Downloads

Abstract

This paper presents an integrated active steering control (ASC) and direct yaw control (DYC) strategy for improving path following performance of the vehicle subject to the uncertain tire-ground adhesion and road curvature conditions. To begin with, a model predictive control (MPC)-based path following controller is designed to deal with system state constraints and actuator actuation limitations. After that, a constrained weighted least square (CWLS)-based torque distributor is developed to distribute the target resultant yaw moment signal into the four executive wheels. Then, the developed control strategy and methods are implemented and evaluated on an eight degree of freedom (8DOF) nonlinear vehicle model include longitudinal, lateral, yaw, roll and four wheels’ rotation dynamics. In the end, simulation results compared with ASC strategy, under the uncertain tire-ground adhesion and varied road curvature cases, confirm the feasibility and efficiency of the presented strategy and methods even subject to the uncertain tire-ground adhesion and varied road curvature.

Keywords

Autonomous ground vehicle model predictive control path following uncertain road information 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Automotive EngineeringDalian University of TechnologyDalianChina

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