Abstract Aimed at safety of vehicle collision avoidance at high speed, a coupled driving/breaking and steering control method is proposed. Based on the differential flatness theory, the flatness-based controller is designed which makes it possible to obtain the vehicle input through the vehicle output and their errors. Thus the vehicle can be controlled using the controller output: the driving/breaking force and the steering angle. The simulation results of the double lane change test show that the proposed control method can ensure both vehicle handing stability and path tracking effect. Compared with vehicles equipped with ESP, the flatness-based control vehicle has better performance in both handing stability and path tracking.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Flatness-Based Vehicle Coupled Control for Steering Stability and Path Tracking


    Contributors:
    Wang, Yuqiong (author) / Shi, Shuming (author) / Li, Ling (author)


    Publication date :

    2015-12-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Flatness-Based Vehicle Coupled Control for Steering Stability and Path Tracking

    Wang, Yuqiong / Shi, Shuming / Li, Ling | British Library Conference Proceedings | 2016


    Vehicle stable steering integrated control method based on differential flatness

    SHI SHUMING / WANG YUQIONG / LI LING et al. | European Patent Office | 2015

    Free access

    From Flatness-based Trajectory Tracking to Path Following

    Werling, M. / Groll, L. | British Library Conference Proceedings | 2009


    From flatness-based trajectory tracking to path following

    Werling, Moritz / Groll, Lutz | IEEE | 2009


    Flatness-based Model Predictive Control for Autonomous Vehicle Trajectory Tracking

    Wang, Zejiang / Zha, Jingqiang / Wang, Junmin | IEEE | 2019