Abstract
The dynamic vehicle roll study requires incorporating ideas from both the physics and mathematics. Applying artificial intelligence (AI) driver algorithms in autonomously controlled vehicles enables them to determine and negotiate corners effectively. The relational concepts vary when comparing the value of vehicle turn angles and their combined active contribution in turning the vehicle automatically.
The planar mathematical theory model for autonomous vehicles was initially developed. This theory was developed for use with 4-wheel steering vehicles but also works for 2-wheel steering vehicles. This theory extends the roll model by using the parameters of the angular velocity of a vehicle; that is, roll φ, pitch θ, yaw ψ, roll rate p, pitch rate q and yaw rate r. However, a roll model that uses forward, lateral, yaw and roll velocities is more exact and effective compared to this planar model.
Autodriver algorithm was introduced as a path-following algorithm for autonomous vehicles which is using road geometry data and planar vehicle dynamics. An autonomous vehicle can follow a given road if it turns about its centre of curvature at a correct moving position equal to the radius of the curvature of the path. The autodriver algorithm is improved according to practical implications, while a more realistic vehicle model (roll mode) is used, which considers roll degree of freedom in addition to a planar motion. A ghost-car path-following approach is introduced to define the desired location of the car at every instance. Finally, simulations are performed to analyse the path-following performance of the proposed scheme. The results show promising performance of the controller both in terms of error minimisation and passenger comfort.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
R. Bishop, Intelligent Vehicle Technology and Trend. Norwood, MA: Artech House, 2005.
M. A. Sotelo, “Lateral control strategy for autonomous steering of Ackerman-like vehicles,” Robot. Auton. Syst., vol. 45, pp. 223–233, 2003.
J. M. Snider, “Automatic Steering Methods for Autonomous Automobile Path Tracking,” Ph.D. dissertation, Robotics Institute, Carnegie Mellon University, Pittsburgh, 2009.
V. Milanés, J. Pérez, E. Onieva, C. González, and T. de Pedro, “Lateral power controller for unmanned vehicles,” Elect. Rev., vol. 86, pp. 207–211, 2010.
J. Pérez, V. Milanés, and E. Onieva, “Cascade architecture for lateral control in autonomous vehicles,” IEEE T. Intell. Transp. Syst., vol. 12, pp. 73-82, 2011.
J. W. Lee and B. Litkouhi, A unified framework of the automated lane centreing/changing control for motion smoothness adaptation, presented at the International IEEE Conference on Intelligent Transportation Systems, Anchorage, Alaska, 2012.
M. H. Lee et al., “Lateral controller design for an unmanned vehicle via kalman filtering,” Int. J. Auto. Tech., vol. 13, pp. 801–807, 2012.
A. Broggi, P. Medici, E. Cardarelli, P. Cerri, and A. Giacomazzo, Development of the control system for the VisLab intercontinental autonomous challenge, presented at the International IEEE Annual Conference on Intelligent Transportation Systems, Madeira Island, 2010.
H. Tan and J. Huang, “Experimental development of a new target and control driver steering model based on DLC test data,” IEEE T. Intell. Transp. Syst., vol. 13, pp. 375–384, 2012.
I. Bae, J. Hyo Kim, and S. Kim, Steering rate controller based on curvature of path for autonomous driving vehicles, presented at the IEEE Intelligent Vehicles Symposium (IV), Australia, 2013.
R. Rajamani, Lateral Vehicle Dynamics, Springer, 2006.
M. Elbanhawi, M. Simic, and R. N. Jazar, “Autonomous robots path planning: An adaptive roadmap approach,” Appl. Mech. Mater., vol. 373, pp. 246–254, 2013.
M. Elbanhawi, M. Simic, and R. N. Jazar, “Continuous-curvature bounded path planning using parametric splines,” FAIA, vol. 262, pp. 513–522, 2014.
H. Marzbani, M. Simic, M. Fard, and R. N. Jazar, “Better road design for autonomous vehicles using clothoids,” IIMSS, vol. 40, pp. 265–278, 2015.
D.Q. Vo, H. Marzbani, M. Fard, and R. Jazar, “A novel kinematic model of a steerable tire for examining kingpin moment during low-speed-large-steering-angle cornering,” SAE Int. J. Passeng. Cars Mech. Syst., vol. 10, 2016.
D.Q. Vo, H. Marzbani, M. Fard, and R. Jazar, “Variable caster steering in vehicle dynamics,” in Proc. Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2017.
M. Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars, Springer, 2014.
C. Fu, R. Hoseinnezhad, A. Bab-Hadiashar, and G. Nakhaie Jazar, “Electric vehicle side-slip control via electronic differential,” Int. J. Veh. Auton. Syst., vol. 6, pp. 108–132, 2014.
H. Marzbani, M. H. A. Salahuddin, M. Simic, M. Fard, and R. N. Jazar, “Steady-state dynamic steering,” FAIA, vol. 262, pp. 493–504, 2014.
P. K. Agarwal and H. Wang, “Approximation algorithms for curvature-constrained shortest paths,” SIAM J. Comput., vol. 30, pp. 1739–1772, 1996.
H. Marzbani, D. Q. Vo, A. Khazaei, M. Fard, and R. N. Jazar, “Transient and steady-state rotation centre of vehicle dynamics,” IJNDC, vol. 1, pp. 97–113, 2017.
A. Lari, F. Douma, and I. Onyiah, “Self-driving vehicles and policy implications: Current status of autonomous vehicle development and Minnesota policy implications,” Minn. J. L. Sci. & Tech., vol. 16, 2015.
H. Khayyam, A. Z. Kouzani, E. J. Hu, and S. Nahavandi, “Coordinated energy management of vehicle air conditioning system,” Appl. Therm. Eng., vol. 31, pp. 750–764, 2011.
S. Song, W. Cai, and Y-G. Wang, “Auto-tuning of cascade control systems,” ISA Trans., vol. 42, pp. 63–72, 2003.
R. N. Jazar, “Mathematical theory of autodriver for autonomous vehicles,” J. Vib. Control, vol. 16, pp. 253–279, 2010.
H. Marzbani, “Application of the mathematical autodriver algorithm for autonomous vehicles,” Ph.D dissertation, Engineering, RMIT University, Melbourne, Australia, 2014.
A. Bourmistrova, M. Simic, R. Hoseinnezhad, and R. N. Jazar, “Autodriver algorithm,” J. Syst., Cyber. Inform., vol. 9, pp. 55–56, 2011.
H. Khayyam, A. Kouzani, H. Hamid Abdi, and S. Nahavandi, “Modeling of Highway Heights for Vehicle Modeling and Simulation,” in ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2009, pp. 365–369.
H. Khayyam, “Stochastic models of road geometry and wind condition for vehicle energy management and control,” IEEE Trans. Vehic. Tech., vol. 62, pp. 61–68, 2012.
R. N. Jazar, Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications, New York: Wiley, 2011.
H. Marzbani, S. Harithuddin, M. Simic, M. Fard, and R. N. Jazar, “Four wheel steering advantageous for the Autodriver algorithm,” FAIA, vol. 262, pp. 505–512, 2014.
R. N. Jazar, Vehicle Dynamics: Theory and Application. New York: Springer, 2018.
J. M. S. Ribeiro, M. F. Santos, M. J. Carmo, and M. F. Silva, “Comparison of PID controller tuning methods: Analytical/classical techniques versus optimization algorithms” in 18th International Carpathian Control Conference, pp. 533–538, 2017.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this chapter
Cite this chapter
Nok To, C.C., Marzbani, H., Jazar, R.N. (2022). Roll Model Control of Autonomous Vehicle. In: Dai, L., Jazar, R.N. (eds) Nonlinear Approaches in Engineering Application. Springer, Cham. https://doi.org/10.1007/978-3-030-82719-9_12
Download citation
DOI: https://doi.org/10.1007/978-3-030-82719-9_12
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-82718-2
Online ISBN: 978-3-030-82719-9
eBook Packages: EngineeringEngineering (R0)