Enhancing Path Following Control Performance of Autonomous Ground Vehicle through Coordinated Approach under Disturbance Effect

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2015/01/01

タイトル(英語): Enhancing Path Following Control Performance of Autonomous Ground Vehicle through Coordinated Approach under Disturbance Effect

著者名: Fitri Yakub (Graduate School of System Design, Tokyo Metropolitan University), Yasuchika Mori (Graduate School of System Design, Tokyo Metropolitan University)

著者名(英語): Fitri Yakub (Graduate School of System Design, Tokyo Metropolitan University), Yasuchika Mori (Graduate School of System Design, Tokyo Metropolitan University)

キーワード: Autonomous ground vehicle，model predictive control，proportional-integral controller，path following control，crosswind disturbance

要約(英語): This study proposes the model predictive control (MPC) with proportional-integral (PI) controller for coordination of active front steering (AFS) and direct yaw moment control (DYC) maneuvers for path following control in an unmanned ground vehicle system. A single-track mode of lateral-yaw motions based on a linearized vehicle model with linear tire characteristics is used for controller design, while the vehicle model used includes roll dynamic motion for the double-track model with a nonlinear tire model. Based on a known trajectory, we tested the vehicle at high forward speed due the fact that the roll dynamic motion will be influenced at high vehicle speed for a double lane change scenario in order to follow the desired trajectory as close as possible, while rejecting the effects of a wind gust. We compared two different controllers; i) MPC with PI of an AFS and, ii) MPC with PI for coordination of AFS and DYC. The simulation results show the proposed coordinated control yielded better tracking performance through high speed maneuvers than AFS maneuvers only. It also demonstrates that the proposed control methods are useful to maintain and enhance vehicle stability along the desired path, and has the ability to eliminate the effect of crosswind.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.135 No.1 （2015） 特集：インタフェース関連アナログ電子回路技術

本誌掲載ページ: 102-110 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/135/1/135_102/_article/-char/ja/