A Path Tracking Control Method Considering Vehicle Stability and Road Curvature East China Jiaotong University

Format:

Book

Conference/Event

Author/Creator:

Lu, Jun, author.

Contributor:

Hu, Yiming

Kong, Bill

Liu, Dengcheng

Wang, Xiaoliang

Zeng, Dequan

Conference Name:

WCX SAE World Congress Experience (2025-04-08 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2025

Summary:

The current research landscape in path tracking control predominantly focuses on enhancing tracking accuracy, often overlooking the critical aspect of passenger comfort. To address this gap, we propose a novel path tracking control method that integrates vehicle stability indicators and road curvature variations to elevate passenger comfort. The core contributions are threefold: firstly, we conduct comprehensive vehicle dynamics modeling and analysis to identify key parameters that significantly impact ride comfort. By integrating human comfort metrics with vehicle maneuverability indices, we determine the optimal range of dynamics parameters for maximizing passenger comfort during driving. Secondly, inspired by human driving behavior, we design a path tracking controller that incorporates an anti-saturation algorithm to stabilize tracking errors and a curvature optimization algorithm to mimic human driving patterns, thereby enhancing comfort. Lastly, comparative simulations with two prevalent path tracking algorithms under diverse operating conditions reveal that our proposed method, which considers both vehicle stability and road curvature, achieves superior ride comfort while maintaining ideal tracking accuracy

Notes:

Vendor supplied data

Publisher Number:

2025-01-8038

Access Restriction:

Restricted for use by site license