Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis

被引：8
|
作者：
Zakaria, Muhammad Aizzat [1 ]
Zamzuri, Hairi [2 ]
Mazlan, Saiful Amri [2 ]
机构：
[1] Univ Malaysia Pahang, Fac Mfg Engn, Mechatron & Syst Design, Gambang, Malaysia
[2] Univ Teknol Malaysia, Malaysia Japan Inst Technol, Vehicle Syst Engn, Gambang, Malaysia
来源：
2ND INTERNATIONAL MANUFACTURING ENGINEERING CONFERENCE AND 3RD ASIA-PACIFIC CONFERENCE ON MANUFACTURING SYSTEMS (IMEC-APCOMS 2015) | 2016年 / 114卷
关键词：
D O I：
10.1088/1757-899X/114/1/012149
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.
引用
收藏
页数：7
相关论文
共 50 条
  • [41] Dynamic Analysis of Landing Autonomous Underwater Vehicle
    杜兵
    蒋永翔
    张宏伟
    Transactions of Tianjin University, 2012, 18 (04) : 298 - 304
  • [42] Dynamic analysis of landing autonomous underwater vehicle
    Bing Du
    Yongxiang Jiang
    Hongwei Zhang
    Transactions of Tianjin University, 2012, 18 (4) : 298 - 304
  • [43] Dynamic Analysis of Landing Autonomous Underwater Vehicle
    杜兵
    蒋永翔
    张宏伟
    Transactions of Tianjin University, 2012, (04) : 298 - 304
  • [44] Learning A Steering Decision Policy for End-to-End Control of Autonomous Vehicle
    Qiu, Tongzhu
    Huang, Zhiqing
    CONFERENCE PROCEEDINGS OF 2019 5TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR), 2019, : 347 - 351
  • [45] Development of Steering Control System for Autonomous Vehicle Using Array Magnetic Sensors
    Im, Dae-Yeong
    Ryoo, Young-Jae
    Jung, Young-Yoon
    Lee, Jin
    Chang, Young-Hak
    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 2354 - 2357
  • [46] Hybrid Parameter-varying Model Predictive Control for Autonomous Vehicle Steering
    Besselmann, Thomas
    Morari, Manfred
    EUROPEAN JOURNAL OF CONTROL, 2008, 14 (05) : 418 - 431
  • [47] Vehicle Steering Control with MPC for Target Trajectory Tracking of Autonomous Reverse Parking
    Tashiro, Tsutomu
    2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), 2013, : 247 - 251
  • [48] Cascade Controller Design For Steering Control Of Nonholonomic Autonomous Mobile Robot Vehicle
    Ahmed, S. Faiz
    Hazry, D.
    Azim, F.
    PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2015), 2015, : 170 - 177
  • [49] Modernization of Steering Servodrive Control System of Autonomous Vehicle by its Experimental Data
    Prokofieva, I. Yu.
    2013 IEEE 2ND INTERNATIONAL CONFERENCE ON ACTUAL PROBLEMS OF UNMANNED AIR VEHICLES DEVELOPMENTS (APUAVD), 2013, : 113 - 117
  • [50] A Fuzzy Logic Shared Steering Control Approach For Semi-Autonomous Vehicle
    Hamdan, Ali
    Talj, Reine
    Cherfaoui, Veronique
    2021 20TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2021, : 83 - 90
12345