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Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation.

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Titel: Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation.
Autoren: Guo, Zhizhong, Liu, Fei, Shang, Yuze, Li, Zhe, Qin, Ping
Quelle: Engineering Computations; 2023, Vol. 40 Issue 9/10, p2814-2840, 27p
Schlagwörter: HARDWARE-in-the-loop simulation, TRAFFIC safety, PID controllers, ARCHITECTURAL design, ROAD construction, AUTONOMOUS vehicles
Abstract: Purpose: This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle. Design/methodology/approach: In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors' model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors' synergistic architecture. Findings: The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety. Originality/value: The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems. [ABSTRACT FROM AUTHOR]
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Datenbank: Complementary Index
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IllustrationInfo
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  Label: Title
  Group: Ti
  Data: Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation.
– Name: Author
  Label: Authors
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  Data: <searchLink fieldCode="AR" term="%22Guo%2C+Zhizhong%22">Guo, Zhizhong</searchLink><br /><searchLink fieldCode="AR" term="%22Liu%2C+Fei%22">Liu, Fei</searchLink><br /><searchLink fieldCode="AR" term="%22Shang%2C+Yuze%22">Shang, Yuze</searchLink><br /><searchLink fieldCode="AR" term="%22Li%2C+Zhe%22">Li, Zhe</searchLink><br /><searchLink fieldCode="AR" term="%22Qin%2C+Ping%22">Qin, Ping</searchLink>
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  Label: Source
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  Data: Engineering Computations; 2023, Vol. 40 Issue 9/10, p2814-2840, 27p
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22HARDWARE-in-the-loop+simulation%22">HARDWARE-in-the-loop simulation</searchLink><br /><searchLink fieldCode="DE" term="%22TRAFFIC+safety%22">TRAFFIC safety</searchLink><br /><searchLink fieldCode="DE" term="%22PID+controllers%22">PID controllers</searchLink><br /><searchLink fieldCode="DE" term="%22ARCHITECTURAL+design%22">ARCHITECTURAL design</searchLink><br /><searchLink fieldCode="DE" term="%22ROAD+construction%22">ROAD construction</searchLink><br /><searchLink fieldCode="DE" term="%22AUTONOMOUS+vehicles%22">AUTONOMOUS vehicles</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Purpose: This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle. Design/methodology/approach: In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors' model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors' synergistic architecture. Findings: The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety. Originality/value: The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of Engineering Computations is the property of Emerald Publishing Limited and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1108/EC-07-2023-0345
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 27
        StartPage: 2814
    Subjects:
      – SubjectFull: HARDWARE-in-the-loop simulation
        Type: general
      – SubjectFull: TRAFFIC safety
        Type: general
      – SubjectFull: PID controllers
        Type: general
      – SubjectFull: ARCHITECTURAL design
        Type: general
      – SubjectFull: ROAD construction
        Type: general
      – SubjectFull: AUTONOMOUS vehicles
        Type: general
    Titles:
      – TitleFull: Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation.
        Type: main
  BibRelationships:
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      – PersonEntity:
          Name:
            NameFull: Guo, Zhizhong
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            NameFull: Liu, Fei
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            NameFull: Shang, Yuze
      – PersonEntity:
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            NameFull: Li, Zhe
      – PersonEntity:
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            NameFull: Qin, Ping
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          Dates:
            – D: 01
              M: 11
              Text: 2023
              Type: published
              Y: 2023
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              Value: 02644401
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              Value: 40
            – Type: issue
              Value: 9/10
          Titles:
            – TitleFull: Engineering Computations
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