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A novel path tracking approach considering safety of the intended functionality for autonomous vehicles
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering ( IF 1.7 ) Pub Date : 2021-05-26 , DOI: 10.1177/09544070211020535
Huiran Wang 1 , Qidong Wang 1, 2 , Wuwei Chen 1 , Linfeng Zhao 1 , Dongkui Tan 1
Affiliation  

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.



中文翻译:

考虑自动驾驶汽车预期功能安全性的新型路径跟踪方法

为了减少转向系统功能不足对路径跟踪精度的不利影响,本文提出了一种通过协调自动转向和差速制动来考虑预期功能安全性的路径跟踪方法。所提出的方法采用由协调控制层和执行控制层组成的分层体系结构。在协调控制层中,提出了一种考虑转向系统功能不足,轮胎力特性和车辆行驶稳定性的扩展控制器,以确定自动转向和差速制动的权重系数,并设计了模型预测控制器来计算所需的前轮距。车轮角度和额外的偏航力矩。在执行控制层中 设计一个考虑外部干扰和参数不确定性的H∞转向角控制器,以跟踪所需的前轮角,并使用制动力分配模块确定受控车轮的轮缸压力。仿真和实验结果均表明,该方法可以克服转向系统的功能不足,在保持自动驾驶汽车稳定性的同时,提高了路径跟踪的准确性。

更新日期:2021-05-27
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