A Novel Strategy for High-Performance Vehicle Lateral Motion Control. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Yin, X.; Eckert, A.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 13945
• Page End: 13951
• Publication Date: 2020
• Subjects: Automotive Control -- Intelligent Autonomous Vehicles -- Control Design -- Path Following -- Trajectory Tracking -- Vehicle Motion Control -- Tracking Control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.911
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a new design strategy for vehicle lateral motion control. In particular, the controller design problem for vehicle path following is considered. A new kind of full error-state dynamic equation incorporating more significant error states is introduced, which describes vehicle lateral dynamics with respect to the desired path, even without the curvature of the desired path acting as disturbance at the input. Thus, the feedback and the feedforward controller can be designed straightforwardly. A novel solution is provided to extract the desired feedforward steering command and the desired reference states from the varying curvature of the desired path. Simulation results demonstrate the efficiency, high performance and robustness of the developed control strategy.