It is worth noting that tracking precision and lateral stability of the autonomous vehicle are adversely affected by modeling uncertainties and external disturbances, especially under extreme conditions. Therefore, A hierarchical control strategy is introduced to realize coordinated path tracking and directed yaw moment control. In the mode decision layer, the determination of weight coefficients for controllers is guided by the extension control theory, taking into consideration the real-time vehicle status characteristics. In the control execution layer, an extended state observer is incorporated into the path tracking controller to estimate uncertainties and disturbances, and a feedforward control scheme, based on model predictive control, is implemented to compensate for the front wheel steering angle. In addition, a direct yaw moment controller grounded in active disturbance rejection control theory is formulated to compute corresponding wheel braking torque. Simulation findings demonstrate that the presented coordinated control strategy exhibits superior tracking precision and lateral stability.
Path Tracking and Direct Yaw Moment Coordinated Control for Autonomous Vehicles Considering Uncertainties and Disturbances*
27.10.2023
5898604 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DOAJ | 2020
|Wiley | 2020
|IET | 2019
|