Lateral Trajectory Stabilization of an Articulated Truck during Reverse Driving Maneuvers
| Autor: | Andreas Zimmermann, Peter Strauss, Arne-Christoph Hildebrandt, Mohit Kumar, Christoph Stiller, Sven Kraus |
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| Rok vydání: | 2020 |
| Předmět: |
Computer Science::Computer Science and Game Theory
050210 logistics & transportation Computer science 020208 electrical & electronic engineering 05 social sciences 02 engineering and technology Linear-quadratic regulator Kinematics Vehicle dynamics Dynamic programming Cascade Control theory 0502 economics and business 0202 electrical engineering electronic engineering information engineering Trajectory Differential dynamic programming Articulated vehicle |
| Zdroj: | IV |
| DOI: | 10.1109/iv47402.2020.9304691 |
| Popis: | The stabilization of articulated truck i.e. truck-semitrailer is a complex problem due to the instable dynamics. In this paper, a lateral trajectory stabilization algorithm for reverse driving of truck-semitrailer is proposed. A cascade control is presented for lateral trajectory stabilization of truck-semitrailer. A high-level path tracking algorithm handles the path tracking of a virtual vehicle which is an equivalent model for the semitrailer. A low-level Linear Quadratic Regulator (LQR) stabilizes the hitch angle. The path tracking problem is formulated as a linear time-varying differential dynamic programming problem subjective to virtual vehicle dynamics in a receding horizon fashion. The virtual vehicle dynamics are defined by the single track kinematic vehicle model and the hitch angle dynamics is used for formulating the Linear Quadratic Regulator problem. The approach is demonstrated with replays of real-world path tracking scenarios on a full-scale truck-semitrailer prototype. |
| Databáze: | OpenAIRE |
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