Development of a Full Speed Range Path-following System for the Autonomous Vehicle

被引：0

作者：

Kim, Chang-il ^{[1
]}

Kim, Moon-sik ^{[1
]}

Lee, Kwang-soo ^{[1
]}

Jang, Hyung-Soo ^{[2
]}

Park, Tae-Seok ^{[2
]}

机构：

[1] Korea Automot Technol Inst, Vehicle Autonomous Driving Technol R&D Ctr, Cheonan 330912, South Korea

[2] Ssangyong Motor Co, Elect Integrated Dev Team, Pyeongtaek 469711, South Korea

来源：

2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年

关键词：

Autonomous Vehicle; Lateral Control; Path-following; Lane Centering; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the full-speed range path following system is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model parameter error, the proposed system is designed according to the back-stepping control algorithm. In order to have control performance in full speed range, both kinematic and dynamic model is used, and to avoid the frequent transition between kinematic and dynamic based control mode, the hysteresis characteristics is applied. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground with 1km straight road and 30m radius curved road.

引用

页码：710 / 715

页数：6

共 50 条

[1] Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle
Jalali, Kiumars
Lambert, Steve
McPhee, John
[J]. SAE INTERNATIONAL JOURNAL OF PASSENGER CARS-ELECTRONIC AND ELECTRICAL SYSTEMS, 2012, 5 (01): : 100 - 113
[2] Robust path-following guidance for an autonomous vehicle in the presence of wind
Kumar, Saurabh
Sinha, Abhinav
Kumar, Shashi Ranjan
[J]. AEROSPACE SCIENCE AND TECHNOLOGY, 2024, 150
[3] Autonomous Electric Vehicle: Steering and Path-following Control Systems
Silva, Marco
Garrote, Luis
Moita, Fernando
Martins, Mauro
Nunes, Urbano
[J]. 2012 16TH IEEE MEDITERRANEAN ELECTROTECHNICAL CONFERENCE (MELECON), 2012, : 442 - 445
[4] Study on the Optimization of Autonomous Vehicle on Path-following Considering Yaw Stability
Wu, Xitao
Wei, Chao
Zhai, Jiankun
Yuan, Shihua
[J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2022, 58 (06): : 130 - 142
[5] Undershoot response analysis of circular path-following control of an autonomous vehicle
Nakata, Ryo
Tanemura, Masaya
Chida, Yuichi
Mitsuhashi, Tomoya
[J]. MECHANICAL ENGINEERING JOURNAL, 2021, 8 (02):
[6] Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle
de Winter, Alexander
Baldi, Simone
[J]. SENSORS, 2018, 18 (11)
[7] Adaptive Path-Following Control of An Autonomous Vehicle with Path-Dependent Constraint Requirements
Jin, Xu
Dai, Shi-Lu
Liang, Jianjun
Guo, Dejun
[J]. 2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2021, : 5753 - 5758
[8] Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle
Villa, Jose
Vallicrosa, Guillem
Aaltonen, Jussi
Ridao, Pere
Koskinen, Kari T.
[J]. APPLIED SCIENCES-BASEL, 2021, 11 (24):
[9] Planar path-following tracking control for an autonomous underwater vehicle in the horizontal plane
Nie, Weibiao
Feng, Shunshan
[J]. OPTIK, 2016, 127 (24): : 11607 - 11616
[10] Path-following optimal control of autonomous underwater vehicle based on deep reinforcement learning
Wang, Zhanyuan
Li, Yulong
Ma, Caipeng
Yan, Xun
Jiang, Dapeng
[J]. OCEAN ENGINEERING, 2023, 268

← 1 2 3 4 5 →