Lateral Control Research Articles

An improved hierarchical deep reinforcement learning algorithm for multi-intelligent vehicle lane change

Lane change is a pivotal technology in autonomous driving, playing a significant role in improving traffic conditions. The control task of lane change becomes exceptionally complex for coordination of multiple intelligent vehicles, especially in unpredictable situations. To address this issue, the paper proposes a novel multi-intelligent vehicle lane change method (MVLC) based on Deep Reinforcement Learning (DRL). The MVLC features a hierarchical framework that includes a lower-layer lane change controller and an upper-layer reinforcement learning decision-making method. In the lower layer, a lane change controller is designed to execute motion control for a single vehicle, consisting of a lateral controller utilizing dueling double deep Q-network to make lane change decision and a longitudinal controller that employs Intelligent Driver Model (IDM) to follow the preceding vehicle. In the upper layer, a model-free DRL method is used for simultaneous control of multiple intelligent vehicles. To learn the optimal policy, a comprehensive reward function is designed. Finally, experiments are conducted in mixed traffic to valid the effectiveness of the proposed method. Results show that MVLC achieves secure and timely lane changes for multiple vehicles. Therefore, the method is expected to have significant potential for improving overall traffic efficiency and mitigating traffic congestion.

Optimized Longitudinal and Lateral Control Strategy of Intelligent Vehicles Based on Adaptive Sliding Mode Control

To improve the tracking accuracy and robustness of the path-tracking control model for intelligent vehicles under longitudinal and lateral coupling constraints, this paper utilizes the Kalman filter algorithm to design a longitudinal and lateral coordinated control (LLCC) strategy optimized by adaptive sliding mode control (ASMC). First, a three-degree-of-freedom (3-DOF) vehicle dynamics model was established. Next, under the fuzzy adaptive Unscented Kalman filter (UKF) theory, the vehicle state parameter estimation and road adhesion coefficient (RAC) observer were designed to estimate vehicle speed (VS), yaw rate (YR), sideslip angle (SA), and RAC. Then, a layered control concept was adopted to design the path-tracking controller, with a target VS, YR, and SA as control objectives. An upper-level adaptive sliding mode controller was designed using RBF neural networks, while a lower-level tire force distribution controller was designed using distributed sequential quadratic programming (DSQP) to obtain an optimal tire driving force. Finally, the control strategy was validated using Carsim and Matlab/Simulink software under different road adhesion coefficients and speeds. The findings indicate that the optimized control strategy is capable of adaptively adjusting control parameters to accommodate various complex conditions, enhancing the tracking precision and robustness of vehicles even further.

Adaptive event‐triggered lateral control for autonomous vehicle system under stochastic‐sampling subject to dynamic quantization

Adaptive event‐triggered lateral control for autonomous vehicle system under stochastic‐sampling subject to dynamic quantization

Assessing the impact of cannabis use on freeway driving performance and practices: A comparative analysis with placebo and alcohol-influenced driving

Objective The objectives of this study were 1) to identify the effects cannabis has on driving performance and individual motor practices when on the freeway compared to placebo and 2) to bring context to the effects of cannabis on driving by comparing effect sizes to those of alcohol. Methods Data for analysis was collected from a study of fifty-three participants with a history of tetrahydrocannabinol (THC) cannabis use who completed three visits in randomized order (placebo (0% THC), 6.18% THC, and 10.5% THC). Data for the alcohol analysis was from a subset of eighteen of these participants with a history of recent alcohol use that completed a fourth alcohol visit that targeted a .05 g/210L breath alcohol content (BrAC) during the drive. Comparisons were made using an analysis of variance approach with the SAS General Linear Models Procedure. Cohen’s d effect sizes were calculated for the cannabis and alcohol conditions relative to placebo for both the full sample and alcohol subset. Results Standard deviation of lane position (SDLP) for cannabis significantly increased compared to placebo and the effect size was comparable to that of alcohol at .05 BrAC. Lane departures for cannabis significantly increased relative to placebo as did the time out of the lane. Cannabis use resulted in an increased amount of time at 10% or more below the speed limit for the 6.18% THC condition. Relative to alcohol, cannabis produced more time at slower speeds and less time at speeds more than 10% above the speed limit. Conclusions Multiple factors of lateral and longitudinal vehicle control on the freeway showed statistical significance. Drivers under the influence of cannabis exhibited higher rates of driving errors but also showed more cautious behaviors such as generally lower speeds on the freeway. Compared with alcohol, effect sizes varied. For longitudinal control, there were larger effect sizes for alcohol with speed effects in opposite directions, but relatively equivalent effect sizes for lateral control and driving errors associated with lane keeping.

Lateral and Longitudinal Shared Control Strategy of Human-Machine Based on Game-Theoretic

Lateral and Longitudinal Shared Control Strategy of Human-Machine Based on Game-Theoretic

Interacting multiple model-based yaw stability control for distributed drive electric vehicle via adaptive model predictive control algorithm

The vehicle lateral stability control is a challenging problem due to the tire nonlinearity and the immeasurable sideslip angle. Thus, an adaptive model predictive control (AMPC) scheme based on interacting multiple model (IMM) vehicle sideslip angle observer is proposed in this paper. First, the observer is composed of the Extended Kalman filter (EKF) and the Unscented Kalman filter (UKF), which improves the real-time performance as well as the observation accuracy. Then, a multi-objective controller based on adaptive vehicle model prediction is designed using model predictive control algorithm. This controller aims to achieve a balance between the actuation and state constraints. The T-S fuzzy algorithm is used to observe the tire cornering stiffness and design an adaptive vehicle model. By utilizing the appropriate objective function and a quadratic programing solver, the controller output is obtained to achieve vehicle stability control. Finally, the effectiveness of the designed AMPC scheme under various working conditions is verified by Carsim-Simulink joint simulation platform and hardware-in-the-loop (HIL) test.

Active rack control of steer-by-wire systems for vehicle lateral stability

This paper describes a stability control strategy based on a steer-by-wire system to improve the lateral stability and manoeuvrability of vehicles by integrating individual chassis control modules, such as electronic stability control (ESC) and active front steering (AFS). Because of the uncertainty of cornering stiffness, an adaptive sliding-mode control is implemented without using the cornering stiffness value. An adaptive parameter is used instead of the cornering stiffness in the slip angle estimation and the lateral stability control. An unscented Kalman filter is used to estimate the slip angle and adaptive sliding mode control is used in lateral stability control. An equivalent desired command is calculated in lateral stability control. An integrated AFS and four individual wheel-braking controls were utilised to achieve an optimal distribution of longitudinal and lateral tyre forces, aiming to attain the desired command for lateral stability. Optimal coordination of the control authority for the AFS and the ESC has been chosen to minimise the force of each tyre. Computer simulations and vehicle tests of a closed-loop driver–vehicle–controller system subjected to a double-lane change have been carried out to verify that the proposed control strategy works.

Distributed Drive Electric Vehicle Handling Stability Coordination Control Framework Based on Adaptive Model Predictive Control.

Distributed drive electric vehicles improve steering response and enhance overall vehicle stability by independently controlling each motor. This paper introduces a control framework based on Adaptive Model Predictive Control (AMPC) for coordinating handling stability, consisting of three layers: the dynamic supervision layer, online optimization layer, and low-level control layer. The dynamic supervision layer considers the yaw rate and maneuverability limits when establishing the β-β˙ phase plane stability boundary and designs variable weight factors based on this stability boundary. The online optimization layer constructs the target weight-adaptive AMPC strategy, which can adjust the control weights for maneuverability and lateral stability in real time based on the variable weight factors provided by the dynamic supervision layer. The low-level control layer precisely allocates the driver's requested driving force and additional yaw moment by using torque distribution error and tire utilization as the cost function. Finally, experiments are conducted on a Simulink-CarSim co-simulation platform to assess the performance of AMPC. Simulation results show that, compared to the traditional MPC strategy, this control strategy not only enhances maneuverability under normal conditions but also improves lateral stability control under extreme conditions.

Long-term effects of daylight saving time on driving fatigue

The study of the relationship between Daylight Saving Time (DST) and road safety has yielded contrasting results, most likely in relation to the inability of crash-database approaches to unravel positive (ambient lighting-related) and negative (circadian/sleep-related) effects, and to significant geographical differences in lighting-related effects. The aim of this study was to investigate the effects of DST on driving fatigue, as measured by driving-based, physiological and subjective indicators obtained from a driving simulator experiment. Thirty-seven participants (73 % males, 23 ± 2 years) completed a series of 50-min trials in a monotonous highway environment: Trial 1 was in the week prior to the Spring DST transition, Trial 2 in the following week, and Trial 3 in the fourth week after the transition. Thirteen participants returned for Trial 4, in the week prior to the Autumn switch to civil time, and Trial 5 in the following week. Significant adverse effects of DST on vehicle lateral control and eyelid closure were documented in Trial 2 and Trial 3 compared to Trial 1, with no statistical differences between Trials 2 and 3. Further worsening in vehicle lateral control was documented in Trials 4 and 5. Eyelid closure worsened up to Trial 4, and improved in Trial 5. Participants were unaware of their worsening performance based on subjective indicators. In conclusion, DST has a detrimental impact on driving fatigue during the whole time during which it is in place. Such an impact is comparable, for example, to that associated with driving with a blood alcohol concentration of 0.5 g/L.

Mangrove Cover and Extent of Protection Influence Lateral Erosion Control at Hybrid Mangrove Living Shorelines

Erosion poses a significant threat to coastal and estuarine environments worldwide and is further exacerbated by anthropogenic activities and increasing coastal hazards. While conventional engineered structures, such as seawalls and revetments, are commonly employed to protect shorelines from wave impact and erosion, they can also cause detrimental environmental effects. By creating/restoring coastal habitats with engineered structures, hybrid living shorelines offer coastal protection and other co-benefits. Using aerial imagery, we studied the rates of shoreline change before and after living shoreline installation, and between living shorelines and adjacent bare shorelines in three estuaries in New South Wales, Australia. Mangroves had established behind most rock fillets and displayed a trend of increasing canopy cover with fillet age. In the first 3 years since installation, the rates of lateral shoreline change reduced from − 0.20, − 0.16, and − 0.10 m/year to − 0.03, − 0.01, and 0.06 m/year in living shorelines in Hunter, Manning, and Richmond Rivers, respectively. However, when compared to control shorelines, the effectiveness in reducing erosion varied among living shorelines with mean effect sizes of 0.04, − 0.28, and 1.74 across the three estuaries. A more positive rate of shoreline change was associated with an increasing percentage of mangrove canopy area and an increasing length of protected shoreline at wide channels. While hybrid mangrove living shorelines are a promising solution for mitigating erosion and creating habitats at an estuary-wide scale, they may also contribute to downdrift erosion, emphasising the importance of considering site-specific hydrogeomorphology and sediment movement when installing living shorelines.

Surrogate multi-objective optimization of missile RCS performance in hypersonic rarefied flow of the near space

This study focuses on optimizing the lateral jet efficiency of THAAD-like (Terminal High Altitude Area Defense) missiles operating under hypersonic rarefied flow conditions. We employ the DSMC-QK algorithm to simulate the three-dimensional lateral jet flow field, accounting for thermochemical non-equilibrium effects. The analysis investigates how the force/momentum amplification coefficient varies with the angle of attack, jet pressure ratio, jet Mach number, and jet gas composition. Subsequently, we develop an artificial neural network (ANN) proxy model using the pyrenn toolbox, achieving an average prediction error of 0.866% and a maximum error of 1.60%. Utilizing this ANN model, we perform single- and multi-objective optimizations with a genetic algorithm to determine the optimal jet parameters. The results reveal that in multi-objective optimization, the proportion of helium in the jet gas composition increases, leading to a slight reduction in the force amplification coefficient but a substantial 61.4% decrease in the mass flow rate. This demonstrates that a judicious selection of jet gas composition can significantly reduce mass flow while maintaining high jet efficiency, thus achieving efficient lateral jet control.

A Novel Robust H∞ Control Approach Based on Vehicle Lateral Dynamics for Practical Path Tracking Applications

This paper proposes a robust lateral control scheme for the path tracking of autonomous vehicles. Considering the discrepancies between the model parameters and the actual values of the vehicle and the fluctuation of parameters during driving, the norm-bounded uncertainty is utilized to deal with the uncertainty of model parameters. Because some state variables in the model are difficult to measure, an H∞ observer is designed to estimate state variables and provide accurate state information to improve the robustness of path tracking. An H∞ state feedback controller is proposed to suppress system nonlinearity and uncertainty and produce the desired steering wheel angle to solve the path tracking problem. A feedforward control is designed to deal with road curvature and further reduce tracking errors. In summary, a path tracking method with H∞ performance is established based on the linear matrix inequality (LMI) technique, and the gains in observer and controller can be obtained directly. The hardware-in-the-loop (HIL) test is built to validate the real-time processing performance of the proposed method to ensure excellent practical application potential, and the effectiveness of the proposed control method is validated through the utilization of urban road and highway scenes. The experimental results indicate that the suggested control approach can track the desired trajectory more precisely compared with the model predictive control (MPC) method and make tracking errors within a small range in both urban and highway scenarios.

An NMPC-Based Integrated Longitudinal and Lateral Vehicle Stability Control Based on the Double-Layer Torque Distribution.

With the ongoing promotion and adoption of electric vehicles, intelligent and connected technologies have been continuously advancing. Electrical control systems implemented in electric vehicles have emerged as a critical research direction. Various drive-by-wire chassis systems, including drive-by-wire driving and braking systems and steer-by-wire systems, are extensively employed in vehicles. Concurrently, unavoidable issues such as conflicting control system objectives and execution system interference emerge, positioning integrated chassis control as an effective solution to these challenges. This paper proposes a model predictive control-based longitudinal dynamics integrated chassis control system for pure electric commercial vehicles equipped with electro-mechanical brake (EMB) systems, centralized drive, and distributed braking. This system integrates acceleration slip regulation (ASR), a braking force distribution system, an anti-lock braking system (ABS), and a direct yaw moment control system (DYC). This paper first analyzes and models the key components of the vehicle. Then, based on model predictive control (MPC), it develops a controller model for integrated stability with double-layer torque distribution. The required driving and braking torque for each wheel are calculated according to the actual and desired motion states of the vehicle and applied to the corresponding actuators. Finally, the effectiveness of this strategy is verified through simulation results from Matlab/Simulink. The simulation shows that the braking deceleration of the braking condition is increased by 32% on average, and the braking distance is reduced by 15%. The driving condition can enter the smooth driving faster, and the time is reduced by 1.5 s~5 s. The lateral stability parameters are also very much improved compared with the uncontrolled vehicles.

Robust fault-tolerant preview control for automatic landing of carrier-based aircraft

PurposeThis paper aims to propose the automatic carrier landing system with the fault-tolerant ability for carrier-based aircraft in the presence of deck motion, external airwake disturbance and actuator fault, which consists of the reference trajectory generation module and flight control module.Design/methodology/approachThe longitudinal and lateral basic controllers are designed based on the optimal preview control (OPC), which can ensure favorable tracking performance and anti-disturbance ability of system. Furthermore, based on the OPC, the robust fault-tolerant preview control scheme is proposed to attenuate the impact of actuator fault on system, which ensures the safe landing of carrier-based aircraft in case of actuator failure.FindingsBoth the Lyapunov method and simulations prove that the tracking errors can converge to zero and system states can be asymptotically stable both in normal and fault operations.Originality/valueThe fault-tolerant control strategy is introduced into preview control to deal with actuator fault, which combines feedforward control based on future previewable information and feedback control based on current information to improve the system performance.

Achieving accurate trajectory predicting and tracking for autonomous vehicles via reinforcement learning-assisted control approaches

In complex urban traffic scenarios, autonomous vehicles face significant challenges in adapting to diverse and dynamic traffic conditions. Reward-based reinforcement learning has emerged as an effective approach to tackle these challenges. This paper presents a novel method that combines deep reinforcement learning with automotive dynamics systems. Building upon the Double Deep Q-learning algorithm, our approach integrates a Recurrent Neural Network with Gated Recurrent Units to enhance the environmental exploration capabilities of autonomous vehicles. To obtain more precise reward values, we introduce a trajectory tracking algorithm based on a combination of proportional-integral-derivative control and feedforward control within the automotive dynamics system. The proportional-integral-derivative controller is utilized for longitudinal control, while the Error-Optimized feedforward controller enhances lateral control, thereby improving trajectory tracking accuracy. Finally, extensive simulation experiments are conducted to evaluate the proposed method, comparing it against other baseline methods in terms of vehicle following and lane-changing scenarios. The results demonstrate that our approach significantly improves both the reward values and control performance of the algorithm.

Analysis of Lateral Roof Structure and Stability Control Technology in Island Working Face Mining Roadways

Analysis of Lateral Roof Structure and Stability Control Technology in Island Working Face Mining Roadways

On integrated lateral and longitudinal control of brain-controlled vehicles

A brain-controlled vehicle (BCV) is a vehicle that uses the Brain–Computer interface (BCI) to analyze the driver’s electroencephalogram (EEG) to obtain human control commands, which can help disabled people extend movement range and improve their self-independence. At this stage, research on the control of BCVs usually focuses only on the lateral control or longitudinal control, and few studies have focused on the problem of integrated lateral and longitudinal control. Given this situation, this paper investigates the integrated control of brain-controlled vehicles (BCV) in both lateral and longitudinal directions, and proposes a control method that utilizes speed as the coupling point. Firstly, the vehicle’s speed is determined by the provided road information. To control the vehicle’s longitudinal speed, a hierarchical control method based on model predictive control (MPC) is implemented. This method introduces a threshold σ to speed up the calculation process and reduce resource consumption. Then, a global controller is developed to conduct the motion control. This controller utilizes three local ANFIS intelligent controllers, employing soft-switching combinations, to generate the steering wheel angle signal. The generated steering wheel angle signal is combined with the cornering command issued by the driver. This fusion process produces the final command, which is responsible for the vehicle’s motion control. Finally, a simulation model is developed to test the integrated control of the BCV in terms of both lateral and longitudinal movements. Multiple experiments are conducted under varying conditions, and the results prove that the proposed method is able to complete the integrated control of the BCV well, which fully illustrates its effectiveness.

Stochastic optimal tuning for flight control system of morphing arm octorotor

PurposeThis study aims to discuss the simultaneous longitudinal and lateral flight control of the octorotor, a rotary wing unmanned aerial vehicle (UAV), for the first time under the effect of morphing and to improve autonomous flight performance.Design/methodology/approachThis study aims to design and control the octorotor flight control system with stochastic optimal tuning under morphnig effect. For this purpose, models of different arm lengths of the octorotor were drawn in the Solidworks program. The morphing was carried out by simultaneously lengthening or shortening the arm lengths of the octorotor. The morphing rate was estimated by using simultaneous perturbation stochastic approximation (SPSA). The stochastic gradient descent algorithm, which is frequently used in machine learning, was used to estimate the changing moments of inertia with the change of arm lengths. The proportional integral derivative (PID) controller has been preferred as an octorotor control algorithm because of its simplicity of structure. The PID gains required to control both longitudinal and lateral flight were also estimated with SPSA.FindingsWith SPSA, three longitudinal flight PID gains, three lateral flight PID gains and one morphing ratio were estimated. PID gains remained within the limits set for SPSA, giving satisfactory results. In addition, the cost index created was 93% successful. The gradient descent algorithm used for the moment of inertia estimation achieved the optimum result in 1,570 iterations. However, in the simulations made with the obtained data, longitudinal and lateral flight was successfully carried out.Originality/valueOctorotor longitudinal and lateral flight control was performed quickly and effectively with the proposed method. In addition, the desired parameters were obtained with the optimization methods used, and the longitudinal and lateral flight of the octorotor was successfully carried out in the desired trajectory.

Attitude stability control for 6WID unmanned ground vehicle during steering: A collaborative controller considering minimizing tire slip energy loss

The instability of vehicle attitude and wheel slippage during turning on complex roads are key factors affecting the operational efficiency and accuracy of a variable wheelbase six-wheel independent drive unmanned ground vehicle (6WID UGV), posing a serious threat to driving safety. This article proposes a hierarchical coordinated controller to improve the attitude stability of a 6WID UGV equipped with interconnected active hydro pneumatic suspension (IAHPS) and reduce tire slip energy loss. Firstly, an integral sliding mode controller with adaptive high-order coupling factor (AHOCF-ISMC) is designed to determine the active anti roll torque required for stable roll attitude. An adaptive high-order coupling factor is introduced in the controller framework to couple physical components with different properties, avoiding overshoot and oscillation caused by integral saturation of the controller. Secondly, based on satisfying the stability of the roll attitude, the lateral stability and longitudinal traction characteristics of the vehicle are constrained and controlled. An optimization function was established to minimize tire slip energy loss within the feasible range of wheel torque determined by lateral and longitudinal control objectives. Thirdly, the particle swarm optimization algorithm was improved (IPSO) by designing adaptive weighting factors and learning factors, and is used to optimize the wheel torque distribution scheme under composite constraint conditions. Finally, the effectiveness of the coordinated controller was tested and validated in different scenarios. The results show that the designed controller has good control performance and robustness without the need to establish an accurate mathematical model, and performs well in terms of economic benefits and application prospects.

Adaptive Backstepping Fuzzy Lateral Motion Control Approach for Autonomous Vehicles

Adaptive Backstepping Fuzzy Lateral Motion Control Approach for Autonomous Vehicles