CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12759 > Article
Paper
10 August 2023 A study on integrated control of trajectory tracking and lateral stability for distributed drive autonomous vehicle
Yu Shi, Dejun Yin
Author Affiliations +
Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127590F (2023) https://doi.org/10.1117/12.2686479
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China
Abstract
In this paper, an integrated control strategy integrating trajectory tracking and lateral stability is proposed for a distributed drive autonomous vehicle (DDAV). First, a model prediction controller is established based on a 3 degree-of-freedom (DOF) vehicle dynamics model and a path following model, and the optimal front wheel steering angle and external yaw moment are simultaneously obtained. Then the torque distribution controller optimises the distribution of longitudinal forces at each wheel with the tyre load rate minimisation as the objective function, and applies the interior point method to solve the optimal torque distribution problem. Finally, simulation experiments are carried out based on the Carsim-Simulink joint simulation platform. The results show that the proposed integrated control strategy can effectively control the lateral error and heading error in vehicle trajectory tracking, and ensure reliable lateral stability of the vehicle at the same time.
© (2023) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Yu Shi and Dejun Yin "A study on integrated control of trajectory tracking and lateral stability for distributed drive autonomous vehicle", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127590F (10 August 2023); https://doi.org/10.1117/12.2686479
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 7 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Autonomous vehicles
Control systems
Unmanned vehicles
Visual process modeling
Autonomous driving
Motion models
Matrices
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top