Wheel Angle Research Articles

Stability coordinated control strategy of autonomous unmanned 4WID-4WIS vehicle based on APD-LQR and AFSMC

To improve the four-wheel independent driving and four-wheel independent steering (4WID-4WIS) autonomous unmanned vehicles’ active safety performance at their maximum operating capacity, the control of path following, four-wheel steering (4WS) and lateral stability should be coordinated. This paper introduces a hierarchical coordinated control framework, in which several independent controllers collaborate to enhance the overall performance of the vehicle system. Initially, in the upper controller, an adaptive preview distance linear quadratic regulator (APD-LQR) path following algorithm is proposed, considering the dynamic characteristics of the tire. It aimed at making the following error converge and obtaining the optimal front wheel steering angle. Meanwhile, an adaptive fuzzy sliding mode control (AFSMC) algorithm is implemented for obtaining additional yaw moment. It aimed at coordinating and improving effectively path following performance and lateral stability. Using the phase plane approach, the sliding surface is dynamically modified. Subsequently, in the lower controller, a rear wheel angle controller based on vehicle speed is proposed. It aimed at further enhancing vehicle’s maneuverability and stability by fully utilizing its steering redundancy features. Moreover, a torque distribution controller establishes a comprehensive cost function and then the NSGA-III algorithm is employed to optimize the torque distribution coefficients. Finally, simulation and Hardware-in-Loop (HIL) test results demonstrates that the proposed coordination algorithm can fully utilize the redundancy features of the 4WID-4WIS vehicle, and significantly enhances the vehicle’s path following accuracy and lateral stability, especially under extreme driving conditions.

Robust integrated control of autonomous vehicles path following with response performance improvement considering lateral stability

In this paper, a robust integrated control scheme is developed for autonomous vehicles path following considering both yaw stability and roll stability. First, a controller with H∞ and optimal guaranteed cost performances is presented, and the poles of the closed-loop system are configured in a given disk region to improve the state response performance. The controller outputs front and rear wheel angles for path following, as well as an external yaw moment and an external roll moment for lateral stability control. Secondly, the braking forces acted on four wheels are optimally distributed by means of quadratic programing. Besides, the steering angles of the four wheels conform to the Ackermann geometry relation. Finally, the proposed control scheme is verified by CarSim/Simulink co-simulation, the results show that the scheme has better performance on path following accuracy and stability of yaw and roll. Meanwhile, constraining the poles in a given disk region can improve the state response performance of the vehicle during operation.

Coordinated strategy for path tracking and dynamic stability considering extreme obstacle avoidance in distributed drive electric vehicles

PurposeThis research aims to investigate the trajectory tracking problem for a four-wheel independent drive autonomous vehicle (4WID) and propose an integrated, coordinated control strategy to address the mutual interference between trajectory tracking and stability control in extreme cases.Design/methodology/approachThe authors establish an adaptive preview model that modifies the preview distance based on vehicle speed. They utilize a three-degrees-of-freedom vehicle model and employ model predictive control to calculate the necessary front wheel angle for trajectory tracking. In terms of longitudinal control, a longitudinal coordinated control mechanism is established to achieve the two conflicting objectives of trajectory tracking accuracy and dynamic stability through early deceleration. A stability controller based on sliding mode control (SMC) is designed, considering tire constraints and tracking the optimal yaw angle and sideslip angle. Furthermore, a lateral coordinated control strategy is developed, considering the weight coefficient of stability control, and the yaw moment is calculated and distributed based on the vehicle torque requirements.FindingsThe proposed integrated, coordinated control strategy successfully addresses the mutual interference between trajectory tracking and stability control in extreme cases for the 4WID vehicle. The strategy achieves trajectory tracking accuracy, dynamic stability and reduced energy consumption while taking into account tire constraints.Originality/valueWe have proposed a cooperative control strategy for the trajectory tracking problem of autonomous driving vehicles. This strategy is different from previous methods in that we have taken into account the integrated dynamic control in both longitudinal and lateral directions, balancing the conflicting control requirements and reducing energy consumption, improving trajectory tracking accuracy and vehicle dynamic stability. We have verified the feasibility of this strategy through joint simulation under different driving conditions.

Study on vehicle state and tire–road friction coefficient estimation based on maximum correntropy generalized high-degree cubature Kalman filter

To cope with the challenges of inadequate precision and weak robustness of tire–road friction coefficient (TRFC) and vehicle state estimation under mixed Gaussian noise circumstances, this research puts forward a method combining maximum correntropy criterion (MCC) and generalized high-degree cubature Kalman filter (GHCKF). A coupled lateral and longitudinal vehicle model and the Dugoff tire model are established. The vehicle mass is estimated using the recursive least squares approach based on a forgetting factor (FFRLS). Low-cost onboard sensors are utilized to design observers for vehicle state and TRFC. The observers’ effectiveness is tested by Carsim/Simulink co-simulation tests under the conditions of sine steering input and steering wheel angle step input. The research results indicate that in handling mixed Gaussian noise environments, maximum correntropy generalized high-degree cubature Kalman filter (MCGHCKF) method outperforms maximum correntropy cubature Kalman filter (MCCKF), GHCKF, and cubature Kalman filter (CKF) methods concerning robustness and estimation accuracy, providing stable and reliable support for systems of vehicle active safety control.

Impact of Drawing Machine Parameters on Force and Energy Consumption in Borosilicate Glass Tube Production

Middle borosilicate glass tubes are critical materials for medical packaging, with the drawing machine playing a pivotal role in their production process. However, the effects of the drawing wheel’s motion parameters on the glass tube remain underexplored. Therefore, based on the finite element method simulation and validation experiment, the effects of experimental factors (angle of upper and lower drawing wheel, AUD; friction factor of glass and rubber, FFGR; and distance of upper and lower drawing wheel, DUD) on experimental indexes (maximum effective stress of glass tube, MES; rotational speed of glass tube, RSG; maximum and average forward driving force, MFDF and AFDF; maximum and average rotational driving force, MRDF and ARDF; total energy consumption and power, TEC and TPD; maximum and average forward driving power, MFDP and AFDP; and maximum and average rotational driving power, MRDP and ARDP) were analyzed. The results indicated that compared to FFGR and AUD, the influence of DUD on experimental indexes was the highest. The positive influence of AUD on RSG, ARDP, and MRDP, the positive influence of FFGR and the negative influence of DUD on MRDF, ARDF, TEC, TPD, ARDP, and MRDP were found, respectively. These findings will provide a theoretical reference for the optimization of drawing machines.

Structure design and analysis of circle wheel angle fine-tuning mechanism

Structure design and analysis of circle wheel angle fine-tuning mechanism

Model predictive control with real-time variable weight for civil aircraft towing taxi-out control systems

Unlike the traditional method of taxying, where civil aircraft reach the runway by relying on their engines, the new mode of towing taxi-out may become preferred because of its lower energy consumption, lower emissions, and higher efficiency. To improve the tracking accuracy and lateral stability of the towing system, this study used a two-level time-varying weight control method (RMPC) based on model predictive control (MPC) and fuzzy control. The tractor speed and front wheel angle were set as the control variables in the MPC controller, and the real-time lateral displacement error and yaw angle error of the tractor were set as the fuzzy control inputs. The influence of the weight matrix on the accuracy and stability of path tracking was coordinated by online optimization of the MPC objective function weight. The simulations of multiple working conditions were performed using TruckSim software in Simulink, which showed that the proposed control method can limit the lateral displacement error of the tractor and aircraft within 0.4 m, which can be reduced by 70.83% and 77.4% compared with the single MPC, respectively. Additionally, the maximum yaw angle errors of the tractor and aircraft are reduced by 76.11% and 51.31% compared with the single MPC, respectively. Furthermore, the yaw angle error of tractors can be limited to 4° and that of aircraft can be limited to 6.5°, which is an improvement of the lateral stability and driving safety for the civil aircraft towing system. The new controller may provide technical insights and support for the practical development and safe application of the towing taxi-out mode.

Correlation between Muscular Activity and Vehicle Motion during Double Lane Change Driving.

The aim of this study was to compare the correlation between electromyography (EMG) activity and vehicle motion during double lane change driving. This study measured five vehicle motions: the steering wheel angle, steering wheel torque, lateral acceleration, roll angle, and yaw velocity. The EMG activity for 19 muscles and vehicle motions was applied for envelope detection. There was a significantly high positive correlation between muscles (mean correlation coefficient) for sternocleidomastoid (0.62) and biceps brachii (0.71) and vehicle motions for steering wheel angle, steering wheel torque, lateral acceleration, and yaw velocity, but a negative correlation between the muscles for middle deltoid (-0.75) and triceps brachii long head (-0.78) and these vehicle motions. The ANOVA test was used to analyze statistically significant differences in the main and interaction effects of muscle and vehicle speed. The mean absolute correlation coefficient exhibited an increasing trend with the increasing vehicle speed for the muscles (increasing rate%): upper trapezius (30.5%), pectoralis major sternal (38.7%), serratus anterior (13.3%), and biceps brachii (11.0%). The mean absolute correlation coefficient showed a decreasing trend with increasing vehicle speed for the masseter (-9.6%), sternocleidomastoid (-12.9%), middle deltoid (-5.5%), posterior deltoid (-20.0%), pectoralis major clavicular (-13.4%), and triceps brachii long head (-6.3%). The sternocleidomastoid muscle may decrease with increasing vehicle speed as the neck rotation decreases. As shoulder stabilizers, the upper trapezius, pectoralis major sternal, and serratus anterior muscles are considered to play a primary role in maintaining body balance. This study suggests that the primary muscles reflecting vehicle motions include the sternocleidomastoid, deltoid, upper trapezius, pectoralis major sternal, serratus anterior, biceps, and triceps muscles under real driving conditions.

Research on the Magnetorheological Finishing Technology of a High-Steepness Optical Element Based on the Virtual-Axis and Spiral Scanning Path.

Magnetorheological finishing (MRF) of aspherical optical elements usually requires the coordination between the translational axes and the oscillating axes of the machine tool to realize the processing. For aspheric optical elements whose steepness exceeds the machining stroke of the equipment, there is still no better method to achieve high-precision and high-efficiency error convergence. To solve this problem, an MRF method combining virtual-axis technology and a spiral scanning path is proposed in this paper. Firstly, the distribution law of the magnetic induction intensity inside the polishing wheel is analyzed by simulation, the stability of the removal efficiency of the removal function within the ±7∘ angle of the normal angle of the polishing wheel is determined, and MRF is expanded from traditional single-point processing to circular arc segment processing. Secondly, the spiral scanning path is proposed for aspherical rotational symmetric optical elements, which can reduce the requirements of the number of machine tool axes and the dynamic performance of machine tools. Finally, an aspherical fused silica optical element with a curvature radius of 400 mm, K value of -1, and aperture of 100 mm is processed. The PV value of this optical element converges from 189.2 nm to 24.85 nm, and the RMS value converges from 24.85 nm to 5.74 nm. The experimental results show that the proposed combined process has the ability to modify curved optical elements and can be applied to ultra-precision machining of high-steepness optical elements.

Dynamic Measurement Method for Steering Wheel Angle of Autonomous Agricultural Vehicles

Steering wheel angle is an important and essential parameter of the navigation control of autonomous wheeled vehicles. At present, the combination of rotary angle sensors and four-link mechanisms is the main sensing approach for steering wheel angle with high measurement accuracy, which is widely adopted in autonomous agriculture vehicles. However, in a complex and challenging farmland environment, there are a series of prominent problems such as complicated installation and debugging, spattered mud blocking the parallel four-bar mechanism, breakage of the sensor wire during operation, and separate calibrations for different vehicles. To avoid the above problems, a novel dynamic measurement method for steering wheel angle is presented based on vehicle attitude information and a non-contact attitude sensor. First, the working principle of the proposed measurement method and the effect of zero position error on measurement accuracy and path tracking are analyzed. Then, an optimization algorithm for zero position error of steering wheel angle is proposed. The experimental platform is assembled based on a 2ZG-6DM rice transplanter by software design and hardware modification. Finally, comparative tests are conducted to demonstrate the effectiveness and priority of the proposed dynamic sensing method. Experimental results show that the average absolute error of the straight path is 0.057° and the corresponding standard deviation of the error is 0.483°. The average absolute error of the turning path is 0.686° and the standard deviation of the error is 0.931°. This implies the proposed dynamic sensing method can accurately realize the collection of the steering wheel angle. Compared to the traditional measurement method, the proposed dynamic sensing method greatly improves the measurement reliability of the steering wheel angle and avoids complicated installation and debugging of different vehicles. The separate calibrations for different vehicles are not needed since the proposed measurement method is not dependent on the kinematic models of the vehicles. Given that the attitude sensor can be installed at a higher position on the wheel, sensor damage from mud blocking and the sensor wire breaking is also avoided.

Implementing Model Predictive Control (MPC) in Steer-by-Wire Systems for Future Automated Vehicles

Abstract The need for future green sustainable transportation represents a motivation for the researchers in order to create a better society. In this paper a proposed Steer-by-Wire system for future automated vehicles is analysed by implementing model predictive control (MPC) controller that would optimise the desired behaviour of the vehicle. By using MATLAB/Simulink, a bicycle vehicle model is simulated in standardised test manoeuvres according to standard ISO:7401. These results are used as referent data for the desired trajectory of the vehicle and as input data for the MPC controller. The idea of using these results for the controller is generated by the desire of creating a shared information intelligent systems. Shared information and control in the future intelligent systems would be crucial for creating the desired sustainable transport. By traveling, the vehicle would collect data of the desired measured variables and those data would be send to every other vehicle. Therefore, the next vehicle would possess the previous data and would try to improve the vehicle response and safety. Every optimised trajectory would be shared with the rest of the vehicles and this cycle would result in further optimization and in creation of a safer, more comfortable and more sustainable transport. The optimisation is done by the MPC controller which is responsible for defining the steering wheel angle and therefore creating the Steer-by-Wire system that is entirely defined by the MPC controller without driver commands. By comparing the trajectory of the automated vehicle and the desired trajectory gained from the previous simulations, the desired steering wheel angle is defined. This results in creation of a Steer-by-Wire system that improves the vehicle dynamics, safety and dynamic response of the vehicle. The mathematical modelling, results of the simulations and advantages of using the MPC controller for the Steer-by-Wire system in automated vehicle are presented.

Comparative Analysis of Adaptation Behaviors of Different Types of Drivers to Steer-by-Wire Systems.

As one of the advanced automotive chassis technologies, the steer-by-wire system offers a high level of precision, responsiveness, and controllability in the driving experience. It can also adjust and optimize parameters to adapt to the preferences of different drivers. However, when faced with the steer-by-wire system, both experienced drivers and novice drivers are in the novice stage, exhibiting learning or adaptation behaviors when using this steering system. In this paper, a small-scale pilot evaluation was conducted by means of a questionnaire survey and driving-simulator experiment, and the learning behavior and adaptability of four experienced and four novice drivers to the steer-by-wire system were analyzed when using the traditional steering system. The study found that experienced drivers show significant changes in their adaptation to the steering system, mainly due to their habitual driving with traditional steering systems. In contrast, novice drivers show no significant changes in their adaptation to the steering system, which is attributed to their lack of driving experience and skills, resulting in less sensitivity to changes in the steering system. Additionally, the study found that novice drivers under the steer-by-wire system grasp control over speed and steering-wheel angle more quickly. This research provides a reference for improving drivers' learning and adaptation abilities to the steer-by-wire system and optimizing the design of the steer-by-wire system.

Analysis and Adjustment of Vehicle Trajectories in the Entrance Area of Freeway Tunnels: from the Perspective of Visual Guiding System

This study aims to quantitatively assess the adjustment effects of various visual guiding schemes on the abrupt change of vehicle trajectory. A driving simulation experiment was conducted using five simulated scenes: (1) baseline (actual situation), (2) pavement (road studs), (3) low position (flexible guideposts), (4) high position (warning alignment signs and retroreflective arches) and (5) multilayer (combination of all devices). Raw data, including vehicle positions, steering wheel angles and lateral offset, were collected. Based on these data, the gradual change degree of vehicle trajectory (G) and average steering wheel angle (SWAav) were computed to quantitatively evaluate the extent of vehicle trajectory deviation and the stability of steering wheel operations respectively. These two evaluation indicators were then translated into trajectory gradualness (TG) and operation stability (OS), respectively, to assess the adjustment effects of different visual guiding schemes. The study results demonstrate that road studs perform a certain degree of enhancement on operation stability (OS). Flexible guideposts exhibit the best effects on operation stability (OS). Additionally, the combination of warning alignment signs and retroreflective arches demonstrate the best regulation of trajectory gradualness (TG). Multilayer visual guiding system achieves the optimal trajectory gradualness (TG) and operation stability (OS).

Development of an Anti-rollover Warning and Active Intervention Controller for Wheeled Tractor

Background: Tractor rollover accidents are the most severe problem in agricultural production. According to the statistical analysis of the rollover incidents, some rollover accidents can be avoided by timely anti-rollover warning and active control. There are a few researches on the anti-rollover control for agricultural tractors, although great progress in the research on tractor security has been achieved, such as rollover protective structure design. Objective: The purpose of this patent study was to develop a controller with the function of warning as well as active anti-rollover control employing the power motor installed on the steering column to adjust the front wheel angle and control the rollover index within the safety range. Methodology: The structure block for the hardware of the controller was devised that included data obtaining, rollover risk estimation, rollover warning, and front-wheel steering control sections. The main circuits have been designed in detail by adopting module methods, such as motor control circuit, positioning and transmission circuit, etc. The control scheme has been demonstrated by designing an overview of the overall architecture, including rollover indicator calculation, load transfer ratio (LTR) controller design, and front-wheel steering angle tracking controller design. C language has been used to accomplish the software design. Results: The active anti-rollover controller can calculate and keep the LTR within the stable range by adjusting the front wheel angle in real-time. The fast response and smoothness of the results demonstrate that the controller can fulfill the designed function. Conclusion: The developed controller can meet the control requirement due to several advantageous aspects, such as reliability, effectiveness, and practicability. It is prospective for the developed controller to provide a valuable reference to reduce tractor rollover accidents.

Computerized Generation of Endodontic Files by Reproducing the Flute Grinding Manufacturing Process.

Background: File fracture during root canal treatment in endodontics is a major concern for clinicians. The strength of the file is strongly dependent on its geometry, material, and working conditions; finite element simulations are used to understand these failure mechanisms. One limitation of the models used for these simulations is the approximate geometric representation typically obtained by rotating and scaling a specific cross-section shape along the file length. Given the influence of file geometry on file strength, a more realistic representation based on the manufacturing method is needed. Methods: A computerized method was developed to generate the file geometry by simulating the flute grinding manufacturing process. This method generates the 3D geometry of the file starting from a blank and reproducing the motions of the file and grinding wheel. Results: The cross-section of the resulting geometry does not involve simple rotation and scaling but changes from the shank to the tip. The tilt angle of the grinding wheel affects the final geometry, thus altering the convexity of the cross-section. Several other parameters, such as the pitch and the radius of the grinding disc tip, impact the final geometry. Conclusions: The proposed computational method allows for the generation of endodontic file geometries that match those produced via the actual flute grinding method. This tool may help researchers and tool designers in the preparation of finite element models to assess the strength of realistic files.

A modified handling stability control strategy for steer-by-wire vehicles based on variable steering ratio and active front steering control

Steer-by-wire (SBW) systems with steering actuator motors rotating the front wheels allow more flexibility for handling stability control; however, determining the desired steering angle and accurately tracking the desired steering angle are still key challenges. Therefore, a modified handling stability control strategy for handling stability is proposed in this paper. Firstly, based on the normal function, a unified variable steering ratio (UniVSR) model that varies with vehicle speed and steering wheel angle is developed. Then, the UniVSR model parameters are optimized by particle swarm optimization (PSO) algorithm in speed segments to improve the steering sensitivity at low speeds and the stability at medium and high speeds. Next, the active front steering (AFS) controller that considers the intervention timing and intervention threshold is proposed to improve the stability of the SBW vehicle under the driving conditions of low-adhesion road, split-μ road, and lateral wind interference. Lastly, the linear active disturbance rejection control (LADRC) based angle tracking control algorithm is presented to guarantee the desired angle tracking accuracy of the steering actuator motor under both internal parameter and external torque perturbations. The simulations validate the effectiveness of the proposed UniVSR model and AFS controller in improving handling stability.

The Control of Handling Stability for Four-Wheel Steering Distributed Drive Electric Vehicles Based on a Phase Plane Analysis

For the sake of enhancing the handling and stability of distributed drive electric vehicles (DDEVs) under four-wheel steering (4WS) conditions, this study proposes a novel hierarchical control strategy based on a phase plane analysis. This approach involves a meticulous comparison of the stable region in the phase plane to thoroughly analyze the intricate influence of the front wheel angle, rear wheel angle, road adhesion coefficient, and longitudinal speed on the complex dynamic performances of DDEVs and to accurately determine the critical stable-state parameter. Subsequently, a hierarchical control strategy is presented as an integrated solution to achieve the coordinated control of maneuverability and stability. On the upper control level, a model predictive control (MPC) motion controller is developed, wherein the real-time adjustment of the control weight matrix is ingeniously achieved by incorporating the crucial vehicle stable-state parameter. The lower control level is responsible for the optimal torque allocation among the four wheel motors to minimize the tire load rate, thereby ensuring a sufficient tire grip margin. The optimal torque distribution for the four wheel motors is achieved using a sophisticated two-level allocation algorithm, wherein the friction ellipse is employed as a judgement condition. Finally, this developed control strategy is thoroughly validated through co-simulation utilizing the CarSim 2019 and Simulink 2020b commercial software, demonstrating the validity of the developed control strategy. The comparative results indicate that the presented controller ensures a better tracking capability to the desired vehicle state while exhibiting improved handling stability under both the double lane shifting condition and the serpentine working condition.

Performance materials with variations of tractor drive wheel fin angle and low-cost manufacturing analysis

Nowadays, the demand for workers in the agriculture industry has decreased and there is a need for rising mechanization in the agriculture process. The agriculture process that requires mechanization is cultivating. The rice cultivator has to be as light as possible, so requires a lighter material but is also strong enough. The correlation between the rice transplanter tool and the wheels is closely related to soil conditions. The selection of wheel materials is considered based on the characteristics of the planting area. In addition, another influence variable is the angle of the fin in the rice transplanter wheel. Material of rice transplanter wheel has been established, these are 1023 carbon steel sheet, AISI 1020 steel cold rolled, AISI 316 stainless steel. The angle of the fin was varied, these are 30, 35, and 40, this fin will give an effect on the traction result of rice transplanter wheel movement. The combination of lightweight material and the appropriate fin angle of the rice transplanter wheel has the best traction result. As a result of this research, the suitable material for the rice transplanter wheel was carbon steel and the fin’s angle was 30. This research involved a comparison and analysis of material strength under various fin angles. The evaluation of stress criteria was conducted using design values to determine the most reliable final product design. The paper contributes by illustrating how to represent the final decision on the combination of design and materials, incorporating a cost index assessment.

RELATIONSHIP BETWEEN TRANSITION CURVES (CLOTHOIDS) AND CIRCULAR CURVES IN ROAD ALIGNMENT

<p style="text-align: justify;"><span lang="EN-GB" style="font-size: 12pt; line-height: 200%; font-family: arial, helvetica, sans-serif;">The transition from a straight line to a circular curve is always abrupt, even if this is not readily noticeable at very large radii or low driving speeds. On the straight section the steering wheel angle is zero, on the arc section the steering wheel angle must have a certain value, as stated above, which is greater the tighter the curve. This in turn would mean that you would have to turn the steering wheel jerkily at the transition between the straight section and the circular curve section. Otherwise you would go off track. Even in the case of large radii without transition curves, the lines of a road appear inelastic and can satisfy neither aesthetically nor driving psychologically down to the last detail. In perspective foreshortening - how the road is seen by the driver - sudden kinks appear despite the large curve radii.</span></p>

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.