Path following is an important part of intelligent driving, belonging to vehicle lateral control. It is one of the research focuses to follow the desired path steadily and accurately. In order to realize the path following analysis and verification of the intelligent vehicle, a two degrees of freedom vehicle lateral dynamic model is established. Based on that, a curvature feedforward control model which can accurately describe the mapping relationship between the steering angle and the path curvature is proposed and established. Then, In order to obtain accurate curvature information, based on the least squares theory, a constrained arc fitting method is proposed to calculate the path curvature. Combined with curvature feedforward control model, the path following control model of intelligent vehicle is established. Then, the following effect of the path following method and the existing multi-point preview following method is compared by simulation method. Finally, the real vehicle test is used to verify the method of path following. The results show that the method has good stability and accuracy.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Intelligent Vehicle Path Following Method Based on Constrained Arc Fitting


    Beteiligte:


    Erscheinungsdatum :

    2019




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch



    Path Following Method Based on Constrained Arc Fitting and Curvature Feedforward Control

    Jiang, Hongwei / Zhang, Jian / Wang, Yu et al. | Springer Verlag | 2022


    Pure tracking intelligent vehicle path following control method

    PAN SHIJU / ZHU YUAN / XU YOUCHUN et al. | Europäisches Patentamt | 2022

    Freier Zugriff


    Curvature-Constrained Vector Field for Path Following Guidance

    Shivam, Amit / Ratnoo, Ashwini | IEEE | 2021