Emergency obstacle avoidance trajectory tracking control based on active disturbance rejection for autonomous vehicles. (8th May 2020)

• Record Type: Journal Article
• Authors: Liu, Runqiao; Wei, Minxiang; Sang, Nan
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 3(2020:May/Jun.)
• Publication Date: 2020-05-08
• Subjects: Active disturbance rejection control -- autonomous vehicle -- four-wheel steering -- high-speed emergency obstacle avoidance -- trajectory tracking; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420921105
• Languages: English
• ISSNs: 1729-8806

Abstract

To solve the problem of understeer and oversteer for autonomous vehicle under high-speed emergency obstacle avoidance conditions, considering the effect of steering angular frequency and vehicle speed on yaw rate for four-wheel steering vehicles in the frequency domain, a feed-forward controller for four-wheel steering autonomous vehicles that tracks the desired yaw rate is proposed. Furthermore, the steering sensitivity coefficient of the vehicle is compensated linearly with the change in the steering angular frequency and vehicle speed. In addition, to minimize the tracking errors caused by vehicle nonlinearity and external disturbances, an active disturbance rejection control feedback controller that tracks the desired lateral displacement and desired yaw angle is designed. Finally, CarSim® obstacle avoidance simulation results show that an autonomous vehicle with the four-wheel steering path tracking controller consisting of feed-forward control and feedback control could not only improve the tire lateral forces but also reduce tail flicking (oversteer) and pushing ahead (understeer) under high-speed emergency obstacle avoidance conditions.