Abstract
To achieve anti-crosswind, anti-sideslip, and anti-rollover in trajectory-tracking for Four-Wheel Steering (4WS) autonomous vehicles, a trajectory-tracking controller based on a four-channel Active Disturbance Rejection Control (ADRC) was used to track the desired lateral displacement, longitudinal displacement, yaw angle, and roll angle, and minimize the tracking errors between the actual output values and the desired values through static decoupling steering and braking systems. In addition, the anti-crosswind, anti-sideslip, and anti-rollover simulations were implemented with CarSim®. Finally, the simulation results showed that the 4WS autonomous vehicle with the controller still has good anti-crosswind, anti-sideslip, and anti-rollover performance in path tracking, even under a small turning radius or lowadhesion curved roads.
Highlights
Autonomous vehicles often encounter extreme conditions in trajectory-tracking, such as crosswinds, high-speed driving, small turning radius, and low-adhesion curved roads
»» the trajectory-tracking controller based on Active Disturbance Rejection Control (ADRC) is defined as controller 2, which is a u0 + _ U1 conversion u1*
»» a conversion method between the target trajectory based on a ground inertial coordinate system and the initial input of the 4WS autonomous vehicle based on a vehicle coordinate system;
Summary
Autonomous vehicles often encounter extreme conditions in trajectory-tracking, such as crosswinds, high-speed driving, small turning radius, and low-adhesion curved roads. Four-Wheel Steering (4WS) or DYC is generally an effective measure to improve the trajectory-tracking performance of vehicles under these curved roads When it comes to vehicles with 4WS, to prevent them from losing steering ability and reduce the sideslip, their yaw rate response is generally set to a first-order lag response, and their sideslip angle response. The fuzzy control rules of the trajectory-tracking control method based on fuzzy neural network come from a lot of neural network training This control method can eliminate the lateral displacement deviation of the vehicle by adjusting the FWS angle in the steering system, and can eliminate the yaw angle deviation of the vehicle by the braking force in the braking system. Conversion between the target trajectory and the initial input of 4WS autonomous vehicle
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
