Abstract
The road friction coefficient is a key parameter and plays a vital role in vehicle stability in path tracking control. Aiming at the problem that the existing estimation methods of friction coefficient cannot obtain sufficient estimation accuracy under the condition of small incentive input or in the presence of unmodeled dynamic factors, a friction coefficient estimation and compensation method based on moving horizon estimation (MHE) is presented in this study. Firstly, a road friction coefficient estimator based on MHE is designed. Secondly, the effect of friction coefficient on vehicle dynamics is analyzed and a friction coefficient compensation method is proposed to optimize the results of MHE and enhance the stability of vehicles. Thirdly, a path tracking controller based on model predictive control (MPC) is designed. Finally, the co-simulation tests based on CarSim and Matlab show that the proposed method significantly raises the stability and path tracking performance of autonomous vehicles on low-friction roads.
Sign-in/Register to access full text options 
Free) 
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 call
