Four-wheel Vehicle Research Articles

Study on the Multi-Mode Optimal Control of Four-Wheel Steering Vehicle

To improve the overall performance of four-wheel steering vehicles under different working conditions and solve the problem of the unbalanced comprehensive control effect of a single controller, a multi-mode optimal decision control system is proposed based on the linear 2-DOF dynamic model of the vehicle, which can make the vehicle have better performance under different working conditions. The system is composed of multiple controllers, in which the self-tuning dual yaw rate feedback controller can create timely feedback and make adjustments according to the driving state of the vehicle, which is optimal under the condition of a small rotation angle at medium and high speeds. The system can match the corresponding controller according to the optimal performance of different control strategies at different speeds and angles. The simulation results show that the multi-mode optimal selection system can make the vehicle perform optimally under different working conditions, and that comprehensive performance is more prominent than that of a single controller.

Pengaruh Motivasi Kerja terhadap Produktifitas Kerja Karyawan PT. Persada Lampung Raya

One company that prioritizes the productivity of its employees, namely PT. Persada Lampung Raya which is a company engaged in the automotive sector of four-wheeled vehicles with the Suzuki brand in Lampung Province. The purpose of this study was conducted at PT. Persada Lampung Raya is to find out whether work motivation has an influence on employee productivity at PT. Persada Lampung Raya. In this study the authors use a quantitative research approach with a population of 105 employees of PT. Persada Lampung Raya while the sample used 46 respondents. The analytical tool used is assisted by the computerized program SPSS version 25. Based on the results of the research work motivation has an influence on the work productivity of employees of PT. Persada Lampung Raya. With the tcount value of Work Motivation of 21,803 with a Sig value of 0.000. This shows that the hypothesis Ha is accepted and Ho is rejected. So that it can be interpreted that the work motivation variable (X) has an influence on (Y) the work productivity of employees of PT. Persada Lampung Raya. Keywords : work motivation, work productivity

Path Planning Optimization of Intelligent Vehicle Based on Improved Genetic and Ant Colony Hybrid Algorithm.

Intelligent vehicles were widely used in logistics handling, agriculture, medical service, industrial production, and other industries, but they were often not smooth enough in planning the path, and the number of turns was large, resulting in high energy consumption. Aiming at the unsmooth path planning problem of four-wheel intelligent vehicle path planning algorithm, this article proposed an improved genetic and ant colony hybrid algorithm, and the physical model of intelligent vehicle was established. This article first improved ant colony optimization algorithm about heuristic function with the adaptive change of evaporation factor. Then, it improved the genetic algorithm on fitness function, adaptive adjustment of crossover factor, and mutation factor. Last, this article proposed the improved hybrid algorithm with the addition of a deletion operator, adoption of an elite retention strategy, and addition of suboptimal solutions obtained from the improved ant colony algorithm to improved genetic algorithm to obtain optimized new populations. The simulation environment for this article is windows 10, the processor is Intel Core i5-5257U, the running memory is 4GB, the compilation environment is MATLAB2018b, the number of ant samples is 50, the maximum number of iterations is 100, the initial population size of the genetic algorithm is 200, and the maximum number of iterations is 50. Simulation and physical experiments show that the improved hybrid algorithm is effective. Compared with the traditional hybrid algorithm, the improved hybrid algorithm reduced by 46% in the average number of iterations and 75% in the average number of turns in a simple grid. The improved hybrid algorithm reduced by 47% in the average number of iterations and 21% in the average number of turns in a complex grid. The improved hybrid algorithm works better to reduce the number of turns in simple maps.

Analisis Konsentrasi Total Suspended Particular (TSP) pada Udara Ambien di Ruas Jalan Pangeran Diponegoro Kota Kendari

Air pollution is one of the problems faced by both developing and developed countries. more than 90% of people in developing countries live in environments with ambient air conditions that are unhealthy to breathe. The increasing number of two-wheeled and four-wheeled vehicles from year to year triggers congestion and causes air pollution, one of the roads that is crowded with two- and four-wheeled vehicles in Kendari City, namely Pangeran Diponegoro street. This study aims to determine the concentration of total suspended particulate (TSP) on Pangeran Diponegoro street, Kendari City and the amount of traffic volume at an interval of three measurements in one day at a predetermined location. The results obtained are the concentration of Total Suspended Particulate in ambient air at Jalan Pangeran Diponegoro, Kendari City within an interval of three measurements in one day, namely at 08.30-09.30 WITA, at 11.30-12.30 WITA, and at 14.30-15.30 WITA. laboratory test results obtained in the morning at 28°C, during the day the results were obtained with a temperature of 32°C, and in the afternoon the results were obtained with a temperature of 29°C which still meets the PP RI standard No. 22 of 2001 and the results of calculating the volume of vehicles in three intervals, namely in the morning at 08.30-09.30 WITA, the number of vehicles is 1480 units/hour, in the afternoon at 11.30-12.30 WITA, 1284 units/hour are obtained, and in the afternoon at 11.30-12.30 WITA. at 14.30-15.30 WITA with the number of vehicles as much as 1523 units/hour.

Integrated Path-Following and Fault-Tolerant Control for Four-Wheel Independent-Driving Electric Vehicles

Integrated Path-Following and Fault-Tolerant Control for Four-Wheel Independent-Driving Electric Vehicles

A numerical simulation of vehicle dynamics behavior for a four-wheel steering vehicle with the passive control system

The Advanced Driver Assistance System (ADAS) is a technology in the vehicle to assist drivers in mitigating road risk and improving maneuverability. The system is capable of providing warnings to drivers and even executing an action if necessary. However, these systems are limited to the sensors and capability of the vehicle. Increasing the degree of freedom of a vehicle could potentially develop new ADAS with more efficiency. Along with the X-By-Wire technology, a four-wheel drive and independent steering (4WDIS) can be produced as a part of ADAS, especially for electric vehicles. In this research, an understanding of the steering characteristic of a 4WDIS during steady-state cornering (SSC) is presented using numerical simulation in MATLAB. An actual Segment B type vehicle is used as a simulation model and a preliminary two-wheel steering SSC simulation was performed to determine the steering characteristics. The model is modified to include a rear steer angle with a passive control system and the SSC simulation was repeated. The results show that the vehicle can perform SSC by increasing the yaw rate at high speed using the opposite steering mode. Meanwhile, parallel steering mode is suitable during low-speed cornering which can increase the yaw rate while maintaining stability.

Analysis of injury patterns and contributory factors among three-wheeler occupants admitted to Teaching Hospital Karapitiya following road traffic accidents

<strong><em>Introduction:</em></strong><em> </em>Increasing morbidity and mortality following road traffic accidents (RTA) is a major health and economic burden in developing countries. Among the increased number of registered vehicles in Sri Lanka 15% are three-wheelers and they are responsible for 11% of the road fatalities in the year 2021 with high impact incidence. The objectives in this study were to determine different patterns, nature, and mechanisms of the injuries, contributory factors, safety measures, and crash characteristics among the occupants of three-wheelers who are admitted following road traffic accidents to a tertiary care hospital in Southern Sri Lanka. <strong><em>Methodology:</em></strong> Data on socio-demographic profile, mechanisms of causation of injuries, affected region and severity of injuries, and contributory factors for the collision were retrieved from Medico-Legal Examination Forms of the patients admitted following three-wheeler accidents to the teaching hospital Karapitiya from 2019 to 2021. The data were analyzed using the SPSS IBM Version 22. <strong><em>Results:</em></strong> Rear-seat passengers (64%) were mostly injured than drivers. A bi-fold pattern of prevalence was observed at the time of incidents. The commonest incident was impacts with moving vehicles (41%) and most injuries were sustained by impacts of objects inside the vehicle (48%). The commonest injury seen was abrasion (69%) and the majority were seen over upper limbs (51%). There was no significant difference in the injury pattern between drivers and rear passengers. (11%) of the three-wheel drivers in this study did not possess a driving license and (24%) of them were drunk at the time of the accidents. <strong><em>Conclusion:</em></strong> High vehicular instability, lack of safety measures, reckless driving, and unnecessary vehicular modifications increase the number of three-wheel accidents. Replacing more crash-worthy four-wheel light vehicles and enforcement of legal limits are recommended.

Effect of the geometrical parameters on the vehicle's moving stability

To enhance the moving stability and safety of vehicles, kinematics and dynamics model of the vehicle consisting of a guided front wheel and a free rear wheel is established based on the model of a four-wheeled vehicle when the vehicle moves on the curve-road. The effect of the geometrical parameters and dynamics parameters including the factor of the moving stability, vehicle moving speed, lateral stiffness parameters of the front and rear wheels, vehicle mass, vehicle length on the vehicle moving stability and safety is then simulated and analyzed, respectively. The research results indicate that the operating parameters of the vehicle greatly affect the vehicle moving stability. The lateral stiffness parameters of the front and rear wheels should be increased while the vehicle mass needs to be reduced in the operating condition of the vehicle to enhance the vehicle moving stability. Besides, the vehicle length L should be reduced and the longitudinal distance of a needs to be distributed by 0.95×a to further improve the vehicle moving stability.

Pengaruh Down Payment dan Insentif Pajak Kendaraan PPNBM Terhadap Penjualan Mobil selama Pandemi Covid-19

The research conducted aims to examine government policies on the decline in sales of four-wheeled vehicles, government policies that have been implemented are fiscal taxes by providing four-wheeled PPnBM tax incentives for 1500 cc vehicle types with the number of passengers less than 10 people with a tax incentive rate of 100%. The type of research conducted is descriptive associative regarding the influence between variables. The data used is from GAIKINDO and OTO.COM and is secondary. The research method used is quantitative and the sample technique uses purposive sampling. The analytical technique used by the researcher is multiple linear regression analysis using SPSS version 26. The variables used in this study are Down Payment, Incentives, PPnBM as the independent variable and Sales as the dependent. The result of the research is that the down payment variable has a negative effect on car sales and the PPnBM incentive variable has a positive effect on car sales and the two variables simultaneously affect car sales

Should India Move toward Vehicle Electrification? Assessing Life-Cycle Greenhouse Gas and Criteria Air Pollutant Emissions of Alternative and Conventional Fuel Vehicles in India.

We perform a state-specific life-cycle assessment of greenhouse gases (GHG) (CO2eq) and sulfur dioxide (SO2) emissions in India for representative passenger vehicles (two-wheelers, three-wheelers, four-wheelers, and buses) and technologies (internal combustion engine, battery electric, hybrid electric, and plug-in hybrid electric vehicles). We find that in most states, four-wheeler battery-electric vehicles (BEVs) have higher GHG and SO2 emissions than other conventional or alternative vehicles. Electrification of those vehicle classes under present conditions would not lead to emission reductions. Electrified buses and three-wheelers are the best strategies to reduce GHG emissions in many states, but they are also the worst strategy in terms of SO2 emissions. Electrified two-wheelers have lower SO2 emissions than gasoline in one state. The Indian grid would need to decrease its carbon dioxide emissions by 38-52% and SO2 emissions by 58-97% (depending on the state) for widespread vehicle electrification for sustainability purposes to make sense. If the 2030 goals for India under the Glasgow COP are met, we find that four-wheeler BEVs still have higher GHG emissions in 18 states compared to a conventional gasoline compact four wheeler, and all states will have higher SO2 emissions for BEVs across all vehicle types compared to their conventional counterparts.

Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation

In this paper, the problem of vehicle guidance by means of an external leader is described. The objective is to navigate a four-wheeled vehicle through unstructured environments, characterized by the lack of availability of typical guidance infrastructure like lane markings or HD maps. The trajectory-following approach is based on an estimate of the leader’s path. For that, position measurements are stored over time with respect to an inertial frame. A new strategy is proposed to rate the significance of position measurements and ensure that a certain threshold of stored samples is not exceeded. Having an estimate of the leader path is essential to prevent the cutting-corner phenomenon and for exact path following in general. A spline-approximation technique is applied to obtain a smooth reference path for the underlying lateral and longitudinal motion controllers. For longitudinal tracking, a constant time-headway policy was implemented, to follow the leader with a constant time gap along the estimated path. The algorithm was first developed and tested in a simulation framework and then deployed in a demonstrator vehicle for validation under real operating conditions. The presented experimental results were achieved using only on-board sensors of the demonstrator vehicle, while high-accuracy differential GPS-based position measurements serve as the ground truth data for visualization.

Use of a capture-recapture statistical model to assess morbidity and mortality of road traffic accidents in Gaza Strip: a retrospective study

BackgroundIn low-income and middle-income countries, road traffic injuries (RTIs) are commonly under-reported. In this study I estimated the incidence of RTIs and RTI deaths in Gaza Strip using the capture-recapture method. MethodsAll data registered on RTIs and RTI deaths from Jan 1 to Dec 31, 2018, were obtained from police records and Palestinian Ministry of Health hospital records. Linked data from these two sources are available through a web-based registry. When possible, records in the two sets of records were linked by an identification number. I used the Chapman formula of capture-recapture to estimate the numbers of RTIs and RTI deaths: (R=[(R1 + 1)(R2 + 1)/(r+1)]–1). FindingsThe Ministry of Health hospital and the traffic police registries included 1722 and 1356 records, respectively. 970 records could be linked. Although the Ministry of Health hospital records reported more RTIs, fewer than the police records contained information about the injury type and vehicle involved (1053 [61%] vs 1302 [96%] and 849 [49%] vs 1139 [84%], respectively. Most individuals involved in RTIs were men (1313 [76%] in hospital records and 1039 [77%] in police records). 684 (40%) individuals in the hospital records and 516 (38%) in the police records were younger than 15 years and 712 (41%) and 541 (40%), respectively, were in the 15–35-year age group. Most (523 [94%]) of the linked RTIs involved four-wheeled vehicles. The number of RTIs estimated by the Chapman method was 2407 (95% CI 2354–2460), meaning that hospital records captured 72% and police records captured only 56%. The hospital and police records included 16 and 57 deaths, respectively, 14 of which had linked records. Of these deaths, 29 (51%) in the police records and 10 (62%) in the hospital records involved people younger than 15 years, and 45 (79%) and 16 (100%), respectively involved four-wheeled vehicles. The total number of fatalities estimated by the Chapman method was 65 (95% CI 55–74). Therefore, the hospital records captured only 25% whereas police records captured 88%. The population of Gaza Strip in 2018 was 1 932 843 in 2018. Thus, based on the estimated values, the incidence of RTIs would have been 125 per 100 000 population and that for RTI deaths fatalities would have been 3·4 per 100 000 population. InterpretationThe capture re-capture method has some methodological biases, such as it requires an equal probability of capture between data sources, perfect linkage of data from data sources, and closed populations. However, it might be a powerful tool to improve estimates of the incidence of RTIs and RTI deaths where reporting is incomplete. Neither the Ministry of Health hospital nor the police registry independently provided accurate numbers. Both registries should be strengthened to provide reliable information not only on numbers but also on crash circumstances, injury patterns, road users, vehicles involved, and behavioural risk factors. Reporting of injury cause, manifestation, location, severity, and type could be improved by use of a standardised systems, such as ICD-10 codes. FundingNone.

Indirect identification of bridge frequencies using a four-wheel vehicle: Theory and three-dimensional simulation

Indirect identification of bridge frequencies, which refers to identifying bridge frequencies from the dynamic response of a vehicle moving on the bridge, has the potential to fast inspect bridges in large quantities. Accurate analysis on the dynamic response of the vehicle used for sensing is crucial to the indirect frequency identification. Most published research on this topic, however, is based on a simplified two-dimensional (2D) analysis of vehicle–bridge interaction (VBI), which cannot fully reproduce the mechanism of a real three-dimensional (3D) vehicle. As a complement, this study carries out the 3D simulation of VBI and accordingly proposes a novel frequency-domain method to identify bridge natural frequencies from the vertical acceleration of a full-car model’s wheels. The wheels’ equations of motion are first transferred into the frequency domain, then the frequency responses of the front and rear wheels are subtracted with a time lag to eliminate the adverse effect of road roughness. Also proposed by this study is a new method to identify the speed of the sensing vehicle with the correlation function of wheel acceleration so that the time lag for subtraction can be calculated. In order to investigate the performance of the proposed methods, a series of numerical simulations are conducted, including sensitivity analysis on the vehicle speed, the class of road roughness, the noise level, and the vehicle frequency. Finally, this paper remarks on the accuracy and robustness of the proposed method and challenges faced by the engineering practice of the indirect bridge structural identification methodology.

EFISIENSI PENGELOLAAN MANAJEMEN PARKIR OFFSTREET TERHADAP PENDAPATAN ASLI DAERAH KOTA BANDA ACEH

The development of the transportation system in Banda Aceh City every year experiences a very significant development. This has an impact on inadequate transportation facilities and infrastructure. This problem urges the Banda Aceh city government, especially agencies related to the Department of Transportation, to be able to overcome problems that arise such as congestion and limited parking space. This study aims to determine the role of the Banda Aceh City Transportation Service, the factors that support and hinder the implementation of electronic off-street parking in Banda Aceh City and the amount of PAD received from the off-street parking sector. The result of this research is that the Banda Aceh City Transportation Service is responsible for offstreet parking management management on Jl. T. Panglima Nyak Makam and the supporting factors are reducing congestion, preventing PAD leakage, making parking management more orderly, while the inhibiting factors are limited parking space, budget and implementation of the non-cash payment system that has not been 100% implemented. The results of data analysis of the average number of two-wheeled vehicles are 550 vehicles per day and four-wheeled vehicles are 213 vehicles. Revenue per day for two-wheeled vehicles Rp. 550,000 and 4-wheeled vehicles Rp. 426,000. If accumulated for 1 year of Rp. 356,240,000 compared to the manual parking system in 2016 of Rp. 32,770,000, the application of this electronic parking system has increased by 987% per year.

Car Battery Power Monitoring and Prediction System Using Microcontroller Based Linear Regression Method

The accumulator is a device to storage for electrical energy in four-wheeled vehicles, requiring frequent maintenance and supervision therefore the battery can be used for a long time. Most of the drivers rarely check the age of the accumulator, this could lead the vehicle to fail to start the engine and this is usually caused by running out of power. This study aims to minimize the problems that are often faced by motorists, namely, running out of power suddenly which causes the car to be unable to run. In this study, predictions of battery power were carried out using the Arduino Uno microcontroller, the acs712 sensor as a battery voltage detector, and the python language to process data with linear regression methods. The system is evaluated based on the functionality and performance of the system. From the test result, it was found that the system functionality runs 100% according to its function. And the results of the prediction of power with the linear regression method can be done because linear regression gives an R2 of 0.88.

PERAKITAN CHASSIS DAN POWERTRAIN KENDARAAN URBAN CONCEPT HEMAT ENERGI UNTUK KONTES MOBIL HEMAT ENERGI DI SMK N 1 SAMBI

The Energy Efficient Car Contest - Kontes Mobil Hemat Energi (KMHE) is an annual national level fuel efficient car competition organized by the National Achievement Center - Pusat Prestasi Nasional (Pusprenas) of the Indonesian Ministry of Education, Culture, Research and Technology in collaboration with one of the universities in Indonesia as the host. One of the categories of competition in KMHE is the Urban Concept type, which is a four-wheeled vehicle that looks like a car in general and is suitable for driving on the road with an internal combustion motor driven with alcohol as an alternative fuel. Vehicle weight is a major obstacle in efforts to save fuel. Vehicles must be designed in such a way that they are light in weight but without compromising their ability to drive. The weight of the Urban Concept vehicle is contributed by the engine, powertrain, body, chassis and driver's weight. The engine used must use an engine on the market (using premium/pertalite/pertamax fuel), so that weight reduction can only be done in other components. On this occasion, the students of SMK Negeri 1 Sambi, Boyolali, Central Java were given the concept of how to design a chassis and powertrain that meets the needs of a vehicle but is light in weight.

Penerapan Metode Prototipe Dalam Pembangunan Website Promosi Dusun Gedong Menggunakan CMS Wordpress

Abstract–Gedong Hamlet is one of the hamlets in the Tajuk village area, Getasan District, Semarang Regency, Central Java Province. This hamlet is located on the slopes of Mount Merbabu at an altitude of 1,700 meters above sea level. Road access to this village is quite difficult and can only be passed by one four-wheeled vehicle. This hamlet has tourism potential of amazing natural beauty and abundant produce through vegetables. However, the difficulty of access to this hamlet makes the potential of the hamlet less well known by the public. This study aims to promote the potential of Gedong hamlet so that it is known and the wider community can get to know Gedong hamlet. So with the recognition of this hamlet, it is hoped that many visitors will come to enjoy the natural potential of Gedong hamlet and the potential of agricultural products, so that it can further improve the economy of the people of Gedong hamlet. The solution used to overcome this problem is to build a website that contains a profile of Gedong hamlet, natural potentials, and market tourism packages in Gedong hamlet. Website development using CMS Wordpress which is an open source application and is supported by many plugins, and this CMS has been widely used by other large websites. The result is that orders can be immediately responded to by the manager, making it easier for both managers and prospective tourists to transact

A Study on Unsteady Aerodynamic Characteristics Acting on Front Fenders of Motorcycles during Steering Motion

&lt;div class="section abstract"&gt;&lt;div class="htmlview paragraph"&gt;Compared to a four-wheeled vehicle, a two-wheeled vehicle’s steering motion has a greater influence on roll behavior as well as yaw. On the other hand, the effect of the aerodynamic characteristics of the front fender on the steering moment has not been clarified. Therefore, a sensory evaluation test was important to know its influence on actual vehicle behavior. In this study, a basic technology to understand the aerodynamic characteristics of the front fender that affect the vehicle behavior of motorcycles was developed. In addition, CFD analysis was used to analyze the generation mechanism of the aerodynamic characteristics during the steering motion. First, the aerodynamic characteristics during the steering motion on the actual vehicle were measured using the wind tunnel facility. Next, the tests in the wind tunnel were reproduced in the CFD analysis using a moving and deforming mesh. As a result of verification of calculation accuracy, it was confirmed that the CFD analysis accurately reproduced the aerodynamic characteristics of the steering moment acting on the front fender during steering motion. In addition, the relationship between the magnitude of the vehicle behavior when a disturbance input was applied around the steering axis and the steering moment of the front fender obtained using the CFD analysis was confirmed. As a result, it was found that the closer the coefficient of the damping term of the moment was to zero, the smaller the roll motion when a disturbance is applied to the steering system tends to become. This suggests that the damping term of the steering moment acting on the front fender is one of the factors affecting the vehicle behavior of motorcycles. The CFD analysis revealed that the damping term of the steering moment is generated by the time difference between the separation of the airflow at the tip of the front fender and its aerodynamic action behind the front fender.&lt;/div&gt;&lt;/div&gt;

Microcontroller Based Parking Lot Monitoring System Prototype

Parking area is one of the facilities that must be available in specific or public places such as parks, recreation areas, malls, offices, business areas and agencies, and other places. Currently, the existing parking facilities generally do not provide information on the presence or absence of vacant parking spaces. This often causes problems in finding parking spaces, where vehicle users, especially four-wheeled vehicles (cars) will look for empty parking spaces by walking around so they can spend a lot of time. This study aims to create a parking lot monitoring system that is equipped with a microcontroller-based monitoring system so that vehicle users can find out how many parking spaces are available and where the parking lot is located. This parking monitoring system was developed using the prototyping method so that determining the need for the actual system is easier to realize. The test results of this device show that this prototype can provide information regarding the number of vacant parking lots and their locations. The impact of this research is that it can eliminate the accumulation of vehicles in front of the parking lot entrance, because vehicle users can easily and quickly find a parking location.

An improved pure pursuit path tracking control method based on heading error rate

PurposeIn path tracking, pure pursuit (PP) has great superiority due to its simple control. However, when in agricultural applications, the performance and accuracy of PP are not so well; it cannot be tracked in time has slow convergence, and low tracking accuracy. Furthermore, in some severe driving scenarios, PP is insufficient to convey the effects of the tracking error. This paper aims to propose an autonomous driving controller to improve the PP model based on heading error rate (Improved PP-improved search strategy ant colony optimization [ISSACO]).Design/methodology/approachFirst, the heading error rate is added as the control method in the PP model. Second, the predicted heading error was selected as the objective function; the ISSACO is used to obtain the minimum value of the predicted heading error. A PP controller is integrated with the heading error rate by ISSACO to better deal with tracking error by trading off between PP and heading error rate. Third, the ISSACO was used to obtain the optimal values of PP and heading error rate weight. Finally, the error feedback adaptive dynamic adjustment of the improved algorithm is realized to reduce the convergence time and tracking error.FindingsThe proposed method was tested on a four-wheeled vehicle robot, and the effectiveness of its convergence was proved. Experiments show that the proposed method can effectively reduce the tracking error, increase convergence, then improve the robot’s working quality.Originality/valueAn adaptive improved PP path tracking control is proposed, which considers both heading error rate and parameter uncertainties. The new autonomous controller has a simple structure and is easy to implement. It can be adjusted according to the path tracking status to improve the adaptability of the system.