Integrated Controller Design for Path Following in Autonomous Vehicles Iran Univ. of Science and Tech

Format:

Conference/Event

Author/Creator:

Mashadi, Mashadi, author.

Contributor:

Ahmadizadeh, Pouyan

Majidi, Majid

Conference Name:

SAE 2011 World Congress & Exhibition (2011-04-12 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2011

Summary:

This paper focuses on the problem of path following in autonomous vehicles. A solution to this problem is a strategy during which a feedback/feed-forward control law is considered to control the path of the vehicle. In this controller, feedback and feed-forward gains are calculated based on the vehicle dynamic and road-concerned variables. A linear quadratic regulator (LQR) technique is applied to a three-degree of-freedom (DOF) linear vehicle model and three types of controllers are designed with the use of active front steering (AFS), four-wheel steering (4WS) and combination of an AFS with a direct yaw moment control (DYC) systems. A comparison is made about the performance and the efficacy among the different controllers in two different maneuvers. An 8-DOF nonlinear vehicle model is used for simulation purposes. It is concluded that 4WS system shows better potential for path following control of an autonomous vehicle

Notes:

Vendor supplied data

Publisher Number:

2011-01-1032

Access Restriction:

Restricted for use by site license