Controller design for trajectory tracking of autonomous passenger vehicles
| Autor: | Ahmed Chaibet, Benoit Vanholme, Salim Hima, Sebastien Glaser |
|---|---|
| Přispěvatelé: | Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs (IFSTTAR/LIVIC), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR), Equipe Commande et Systèmes, École Supérieure des Techniques Aéronautiques et de Construction Automobile (ESTACA) |
| Rok vydání: | 2011 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Engineering Adaptive control business.industry 05 social sciences Advanced Vehicle Safety Systems Open-loop controller Feed forward Control engineering Mobile robot 02 engineering and technology Steering wheel Driver Assistance Systems [SPI]Engineering Sciences [physics] 020901 industrial engineering & automation Control theory Backstepping 0502 economics and business 11. Sustainability Trajectory Automated Vehicle Operation business |
| Zdroj: | ITSC Proc. of the Intelligent Transportation Systems Conference (ITSC 2011) Intelligent Transportation Systems Conference (ITSC 2011) Intelligent Transportation Systems Conference (ITSC 2011), Oct 2011, Washington DC, United States. ⟨10.1109/ITSC.2011.6083126⟩ |
| DOI: | 10.1109/itsc.2011.6083126 |
| Popis: | International audience; This paper presents controllers design procedure for dynamic trajectory tracking of a highly automated vehicle. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the steering wheel and accelerations. A decoupled design approach of longitudinal and lateral controller is adopted. For the longitudinal controller, a proportional including a feedforward terms is adopted. On the other hand, an adaptive backstepping approach is used in lateral case to deal with model nonlinearities and parameter uncertainties. The developed controller is integrated and tested in simulation environment. Performance of this controller are presented to demonstrate the effectiveness of the proposed controllers. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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