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Study on Robust Lateral Controller for Differential GPS-Based Autonomous Vehicles

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Abstract

Recently, technological advancements in autonomous vehicle development have continued to accelerate. In this paper, we propose a lateral controller and navigation algorithm for autonomous vehicles based on the Differential Global Positioning System (DGPS), core technology of autonomous vehicles. In this study, an H-infinity (H∞) controller was designed lateral controller to ensure nominal safety and robustness against noise, external disturbances and structural and non-structural errors in vehicle modeling. Meanwhile, the “pure pursuit” approach which geometrically follows a path was employed as a path-tracking technique for the proposed navigation algorithm. A vehicle modeling simulation was conducted to evaluate the performance of the proposed method using a twodegrees- of-freedom linear model. The lateral H∞ controller and navigation algorithm were applied to an actual vehicle, Their performances were evaluated by comparing the path tracking error at various speeds of autonomous vehicles with that of the proportional-integral-derivative (PID) controller.

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Abbreviations

δ W :

front steering angle

α F , α R :

side slip angel of front and rear wheels

F WSF , F WSR :

tire lateral force of front and rear wheels

β :

slip angel at the vehicle center of gravity

v CoG :

velocity vector at the vehicle center of gravity

Ψ :

yaw angle of vehicle

CoG :

vehicle center of gravity

l F , l R :

distance from vehicle center of gravity to front and rear wheels

C αF , C αR :

cornering stiffness of front and rear tires

v WF :

velocity of front tire

V x :

lateral velocity of the vehicle

I ZZ :

yaw moment of the vehicle

m :

vehicle mass

r trac :

target yaw rate for path tracking

r avoi :

target yaw rate for obstacle avoidance

δ desi :

target steering angle of vehicle

L :

distance from the center of the vehicle to the look ahead poin

R trac :

turn radius of vehicle to path tracking

R desi :

target turn radius of vehicle

θ err :

heading angle error of vehicle

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Authors and Affiliations

  1. School of Mechanical Engineering, University of Ulsan, 93, Daehak-ro, Nam-gu, Ulsan, 44610, Republic of Korea

    Hyung-Gyu Park & Kyoung-Kwan Ahn

  2. Graduate School of Mechanical Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, 46241, Republic of Korea

    Myeong-Kwan Park & Seok-Hee Lee

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  1. Hyung-Gyu Park
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  2. Kyoung-Kwan Ahn
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Correspondence to Seok-Hee Lee.

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Park, HG., Ahn, KK., Park, MK. et al. Study on Robust Lateral Controller for Differential GPS-Based Autonomous Vehicles. Int. J. Precis. Eng. Manuf. 19, 367–376 (2018). https://doi.org/10.1007/s12541-018-0044-9

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  • DOI: https://doi.org/10.1007/s12541-018-0044-9

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