Path Tracking Control for Active Rear Steering Vehicles Considering Driver Steering Characteristics

Han Zhang,Bo Heng,Wanzhong Zhao

doi:10.1109/access.2020.2981417

Abstract

In this paper, a path tracking control for active rear steering vehicles considering driver steering characteristics is proposed to help drivers track the desired vehicle trajectory in a tailored way. Firstly, the driver model is established, and based on the driver steering data, the driver parameters are identified by the least square method. Based on driver model parameter identification, driver and vehicle models are formed for the MPC controller design. In MPC controller design, global objective function, considering the task performance, vehicle stability, driver's physical workloads, mental workloads and actuator performance, is designed to optimize the overall performance of the driver-vehicle system. On the constraint, the driver operating limit, actuator physical limit and vehicle stability performance limit are also considered to make the controller feasible to in the real practice. Simulation results under different conditions show that the controller can significantly improve the system performance and reduce the driver's workloads.

Highlights

In real driving scenario, vehicles can be affected by various external disturbances, such as road interference, surrounding obstacles, drivers’ distractions or capability limits, and et al Trajectory tracking is a significant issue in advanced driver assistant system and intelligent driving technology, such as lane keeping assistance (LKA), collision avoidance (CA), automatic parking (AP), and et al [1]–[7]
Zhang et al.: Path Tracking Control for Active Rear Steering Vehicles Considering Driver Steering Characteristics steering angle can be adjusted in the opposite direction of the front wheels to reduce the steering radius
DRIVER MODEL In the driving process, drivers manipulate the steering wheel according to the lateral displacement deviation between preview point of the desired path and vehicle predicted position, which can be described by driver steering models [23]

Summary

INTRODUCTION

Vehicles can be affected by various external disturbances, such as road interference, surrounding obstacles, drivers’ distractions or capability limits, and et al Trajectory tracking is a significant issue in advanced driver assistant system and intelligent driving technology, such as lane keeping assistance (LKA), collision avoidance (CA), automatic parking (AP), and et al [1]–[7]. H. Zhang et al.: Path Tracking Control for Active Rear Steering Vehicles Considering Driver Steering Characteristics steering angle can be adjusted in the opposite direction of the front wheels to reduce the steering radius. In order to help drivers track a desired path as well as improve the vehicle stability, an active rear steering control strategy considering drivers’ characteristics is developed in this paper. A. DRIVER MODEL In the driving process, drivers manipulate the steering wheel according to the lateral displacement deviation between preview point of the desired path and vehicle predicted position, which can be described by driver steering models [23]. The driver’s steering wheel angle to track desired path can be simplified as a first-order driver model with lead-lag elements and time delay [30], [31].

MPC CONTROLLER DESIGN

SIMULATION STUDIES

CONCLUSIONS