Path tracking control strategy for the intelligent vehicle considering tire nonlinear cornering characteristics in the PWA form |
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| Institution: | 1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China;2. Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Chongqing University of Technology, Ministry of Education, Chongqing 400054, China;1. School of Mathematics and Statistics, Beijing Institute of Technology, Beijing 100081, China;2. School of Automation, Beijing Institute of Technology, Beijing 100081, China;3. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;2. Research Institute for Frontier Science, Beihang University, Beijing 100191, China;3. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;4. Ningbo Institute of Technology, Beihang University, Ningbo 315800, China;1. Zhejiang University of Technology, Zhengzhou, China;2. Pontifical Catholic University of Rio de Janeiro (PUC-Rio), Brazil;3. Communications Group, Department of Electronic Engineering, University of York, United Kingdom;1. School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou 510006, China;2. College of Information Science and Engineering, Huaqiao Univesity, Xiamen 361002, China;3. School of Information Science, Guangzhou Xinhua University, Dongguan 523133, China;4. Marcau Centre for Mathematical Sciences, Macau University of Science and Technology, Macau, China;1. Federal University of São João del-Rei, 170 Frei Orlando, São João del-Rei;1. School of Control Science and Engineering, Shandong University, Jinan 250061, China;2. School of Mathematical Sciences, University of Jinan, Jinan 250022, China |
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| Abstract: | To improve the path tracking control performance of the intelligent vehicle under critical maneuvers, a novel control strategy is introduced in this work. Considering that the tire cornering characteristics show high nonlinearities and uncertainties under those special driving conditions, a three-dimensional piecewise affine (PWA) identification method is proposed to realize the nonlinear modeling of the tire cornering characteristics for the first time. On this basis, the PWA model of the vehicle lateral dynamics is established. To obtain the vehicle target yaw rate for path tracking, a driver direction control model with adaptive preview time is put forward. Then, the linear quadratic optimal control method is further adopted to design multiple path tracking controllers for different working areas of the affine subsystems, thus the optimal steering angles of the front wheels can be generated to guarantee the path tracking performance for the intelligent vehicle under a wide range of driving conditions. Finally, to evaluate the performance of the proposed path tracking control strategy which considers the tire nonlinear cornering characteristics in the PWA form, the CarSim-Simulink co-simulation work is conducted. The co-simulation results show that the proposed control strategy presents significant performance advantages over the other two methodologies and demonstrates satisfactory path tracking control performance. |
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