A lateral control assistant for the dynamic model of vehicles subject to state constraints

Jiang, Jingjing; Astolfi, Alessandro

doi:10.1109/cdc.2017.8263673

Cited by 10 publications

(4 citation statements)

References 18 publications

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“…According to road crash statistics, improper steering wheel movement is responsible for an estimated 40% of all fatalities on the road. As a result, the lateral control support system is crucial in enhancing safety (Jiang and Astolfi, 2017).…”

Section: Introductionmentioning

confidence: 99%

Application of asymmetric barrier Lyapunov function using ADRC approach for development of autonomous vehicle lateral control

Parkash

Swarup

2022

Journal of Vibration and Control

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This paper presents a control scheme for performance improvement in lane-keeping activity of autonomous vehicle, within guaranteed specified deviations. Such feature will provide better and safe maneuvering for autonomous vehicle. The proposed control scheme consists of Asymmetric Barrier Lyapunov Function (ABLF) based backstepping method for ensuring stability and constraints satisfaction. Since autonomous vehicle dynamics is subjected to unknown disturbances and also the states, it has been shown that the vehicle performance can be improved by the application of Active Disturbance Rejection Control (ADRC) which uses the Extended State Observer (ESO). For the proposed control scheme, the asymptotic stability and convergence of error dynamics have been established. The simulation results have been presented to illustrate the performance robustness and accuracy provided by the proposed control scheme. Further, it has been show that the vehicle motion performance is better in comparison to the performances obtained from two existing control methods.

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Section: Introductionmentioning

confidence: 99%

Application of asymmetric barrier Lyapunov function using ADRC approach for development of autonomous vehicle lateral control

Parkash

Swarup

2022

Journal of Vibration and Control

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“…Approximate 40% of deaths on the road happened due to improper steering wheels. 1 Hence, the lateral control supporting system is required to enhance road safety and people’s lives. To improve the lane-keeping performance of autonomous vehicles along with the desired trajectory, the control of lateral dynamics problem of lateral dynamics of the vehicle has to be solved and studied.…”

Section: Introductionmentioning

confidence: 99%

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Parkash

Swarup

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In a surface vehicle ride, the passenger’s comfort is desirable, ensuring safety under various tight constraints. To consider this requirement, this article has proposed a lateral control for autonomous vehicle considering the lateral offset error constraints. A reduced-order dynamics of the vehicle has been considered for improving and easy implementation of backstepping. A nonlinear control has been developed by utilizing the Time-varying Asymmetric Barrier Lyapunov Function via the Active Disturbance Rejection Control (ADRC) approach. The Extended State Observer, a component of applied ADRC, estimates all unknown system states as well as the unknown disturbance. The desired trajectories (smooth and non-smooth) based on the yaw rate profile have been synthesized to test the performance of the vehicle. Simulation results are presented to show the effectiveness of the proposed closed-loop control strategy. The vehicle performance has been compared using the proposed method, the conventional Quadratic Lyapunov Function and Symmetric Barrier Lyapunov Function based control. The proposed control provides a smoother control signal, small tracking error and robustness in presence of hard road constraints for smooth/non-smooth vehicle motion.

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“…Other control technologies have also been used, such as H ∞ control [7], [8], Linear Quadratic Regulator (LQR) [9] and sliding mode control [10], [11], [12]. In addition, the paper [13] has presented a feedback controller to control the lateral dynamics of rear-wheel drive cars subject to state constraints. However, these control methods are developed based on the linearized model of the lateral dynamics, while this paper studies the control problem for the nonlinear lateral dynamics.…”

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confidence: 99%

Lateral Control of an Autonomous Vehicle

Jiang

Astolfi

2018

IEEE Trans. Intell. Veh.

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The asymptotic stabilization problem for a class of nonlinear under-actuated systems is studied and solved. Its solution, together with the back-stepping and the forwarding control design methods, is exploited in the control of the nonlinear lateral dynamics of a vehicle. Even though the theoretical studies of the lateral control of autonomous vehicles are traditionally applied to lane keeping cases, the results can be applied to broader range of areas, such as lane changing cases. The comparison between the performances of the closed-loop systems with the given controller and a typical human driver is given and demonstrates the speediness and the effectiveness of the feedback controller.

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A lateral control assistant for the dynamic model of vehicles subject to state constraints

Cited by 10 publications

References 18 publications

Application of asymmetric barrier Lyapunov function using ADRC approach for development of autonomous vehicle lateral control

Application of asymmetric barrier Lyapunov function using ADRC approach for development of autonomous vehicle lateral control

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Lateral Control of an Autonomous Vehicle

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