Skip to main content
SpringerLink
Log in

Optimum path-tracking control for inverse problem of vehicle handling dynamics

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

A method based on optimal control theory is presented in this paper to solve path-tracking problems in inverse vehicle handling dynamics. The idea behind is to identify the optimal steering torque input along a prescribed path to generate an expected trajectory that guarantees minimum clearance. Based on this purpose, the path-tracking problem, treated as an optimal control problem, is first converted into a nonlinear programming problem by Gauss pseudospectral method (GPM) and is then solved with Sequential quadratic programming (SQP). Finally, a real vehicle test is executed to verify the rationality of the proposed model and methodology. Results show that the minimum lateral position error of the generated path-tracking trajectory can be a good solution for path-tracking problem in inverse vehicle handling dynamics for GPM. The algorithm has higher calculation accuracy compared with other methods to solve path-tracking problems. The study could help drivers identify safe lane-keeping trajectories and areas easily.

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

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. K. Wongun, K. Dongwook and Y. Kyongsu, Development of a path-tracking control system based on model predictive control using infrastructure sensors, Vehicle System Dynamics, 50 (6) (2012) 1001–1023.

    Article  Google Scholar 

  2. T. Siavash, R. Subhash and H. Henry, Influence of human driving characteristics on path tracking performance of vehicle, Intelligent Robotics and Applications-Proceedings of the 5th International Conference, Montreal, Canada (2012) 207–216.

    Google Scholar 

  3. H. Toshihiro, N. Osamu and K. Hiromitsu, Automatic pathtracking controller of a four-wheel steering vehicle, Vehicle System Dynamics, 47 (10) (2009) 1205–1227.

    Article  Google Scholar 

  4. D. Bektache, C. Tolba and N. Ghoualmi-Zine, Forecasting approach in VANET based on vehicle kinematics for road safety, International Journal of Vehicle Safety, 7 (2) (2014) 147–167.

    Article  Google Scholar 

  5. Y. C. Ju, Robust controller for an autonomous vehicle with look-ahead and look-down information, Journal of Mechanical Science and Technology, 25 (10) (2011) 2467–2474.

    Article  MathSciNet  Google Scholar 

  6. E. Kim, J. Kim and M. Sunwoo, Model predictive control strategy for smooth path tracking of autonomous vehicle with steering actuator dynamics, International Journal of Automotive Technology, 15 (7) (2014) 1155–1164.

    Article  Google Scholar 

  7. S. Taehyun, A. Ganesh and Y. Hongliang, Autonomous vehicle collision avoidance system using path planning and modelpredictive-control-based active front steering and wheel torque control, Journal of Automobile Engineering, 226 (6) (2012) 767–778.

    Article  Google Scholar 

  8. Y. W. Xu, X. B. Cao and T. Li, Extended Kalman filter based pedestrian localization for collision avoidance, IEEE International Conference on Mechatronics and Automation, Chang Chun, China (2009) 805–817.

    Google Scholar 

  9. S. J. Anderson, S. C. Peters and T. E. Pilutti, Semi-autonomous avoidance of moving hazards for passenger vehicles, ASME 2010 Dynamic Systems and Control Conference, Cambridge, Massachusetts, USA (2010) 141–148.

    Chapter  Google Scholar 

  10. A. J. Amir, B. K. Mohsen and K. Reza, Simultaneous vehiclehandling and path-tracking improvement using adaptive dynamic surface control via a steer-by-wire system, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 227 (3) (2013) 345–360.

    Article  Google Scholar 

  11. B. Xu, D. J. Stilwell and A. J. Kurdila, A receding horizon controller for motion planning in the presence of moving obstacles, 2010 IEEE International Conference on Robotics and Automation Anchorage Convention District, Anchorage, AK (2010) 974–980.

    Google Scholar 

  12. A. Ghaffari, A. Khodayari and S. Arivin, An ANFIS design for prediction of future state of a vehicle in lane change behavior, 2011 IEEE International Conference on Control System, Computing and Engineering, Penang, Malaysia (2011) 156–161.

    Chapter  Google Scholar 

  13. S. Jin, Z. Y. Huang and P. F. Tao, Car-following theory of steady-state traffic flow using time-to-collision, Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 12 (8) (2011) 645–654.

    Article  Google Scholar 

  14. D. A. Benson, G. T. Huntington and T. P. Thorvaldsen, A Direct trajectory optimization and costate estimation via an orthogonal collocation method, Journal of Guidance, Control, and Dynamics, 29 (6) (2006) 1435–1440.

    Article  Google Scholar 

  15. G. W. Reddien, Collocation at a discretization in optimal control, SIAM Journal of Control and Optimization, 17 (2) (1979) 298–306.

    Article  MathSciNet  MATH  Google Scholar 

  16. G. T. Huntington, Advancement and Analysis of A Gauss Pseudospectral Transcription for Optimal Control, Massachusetts, USA (2007).

    Google Scholar 

  17. E. M. Yong, L. Chen and G. G. Tang, A survey of numerical methods for trajectory optimization of spacecraft, Journal of Astronautics, 29 (2) (2008) 397–406 (in Chinese).

    Google Scholar 

  18. Z. L. Jin, J. S. Weng and H. Y. Hu, Rollover stability of a vehicle during critical driving maneuvers, Proc. IMechE, Part D: J. Automobile Engineering, 221 (9) (2007) 1041–1049.

    Article  Google Scholar 

  19. L. X. Zhang, Y. Q. Zhao and G. X. Song, Research on inverse dynamics of vehicle minimum time maneuver problem, China Mechanical Engineering, 18 (21) (2007) 2628–2632 (in Chinese).

    Google Scholar 

  20. I. M. Ross and F. Fahroo, Pseudospectral knotting methods for solving nonsmooth optimal control problems, Journal of Guidance Control and Dynamics, 27 (3) (2004) 397–405.

    Article  Google Scholar 

  21. E. G. Philip, SNOPT: An SQP algorithm for large-scale constrained optimization, SIAM Review, 47 (1) (2005) 99–131.

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical-Electronic and Vehicle Engineering, Weifang University, Weifang, Shandong, 261061, China

    Yingjie Liu & Junsheng Jiang

Authors
  1. Yingjie Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Junsheng Jiang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yingjie Liu.

Additional information

Recommended by Associate Editor Deok Jin Lee

Yingjie Liu obtained his B.S. and M.S. at the Shandong University of Technology, China, in 2007 and 2010, respectively. He later received his Ph.D. degree in 2014 from Nanjing University of Aeronautics and Astronautics, China. He is currently a lecturer at School of Mechanical-Electronic and Vehicle Engineering, Weifang University, China. His current research interests include vehicle system dynamics and control theory on ground vehicles.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Liu, Y., Jiang, J. Optimum path-tracking control for inverse problem of vehicle handling dynamics. J Mech Sci Technol 30, 3433–3440 (2016). https://doi.org/10.1007/s12206-016-0701-9

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-016-0701-9

Keywords

Search

Navigation