Accurate and Smooth Speed Control for an Autonomous Vehicle

Xu, Shaobing; Peng, Huei; Song, Ziyou; Chen, Kailiang; Tang, Yuxin

doi:10.1109/ivs.2018.8500519

Cited by 43 publications

(27 citation statements)

References 15 publications

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“…To this estimator, the following lemma is established: Lemma 1: To system (9), the filter (12) and estimator (13), the estimating error is defined as:…”

Section: Modeling the Previous Dynamics F Vsmentioning

confidence: 99%

“…where t 0 is the initial time, e fvs (t 0 ) is the error at initial time, andh l vs + k. Furthermore, e fvs → 0 holds while k → 0 and t → 0. Proof: Taking a derivative of e fvs with respect to time along with system (9) under the filter (12) and estimator (13) gets:ė…”

Section: Modeling the Previous Dynamics F Vsmentioning

confidence: 99%

“…Different from above results, some other researchers such as Xu, etc. in [12] presents a numerical modeling to control the velocity. Based on the speed-throttle-acceleration mapping and a first-order linear time-invariant approach, an optimal tracking controller is designed to track the desired velocity.…”

Section: Introductionmentioning

confidence: 99%

“…The disadvantages in [3] and [6]- [10] are overcame and the control structure is much simpler than [11]. However, this first-order linear time-invariant approach of the vehicle dynamics which is employed to design the LQ controller is not reasonable in [12].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Lei

et al. 2019

IEEE Access

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How to improve the velocity tracking accuracy is a core and difficult problem in autonomous driving, especially while some core parameters of the controlled vehicle cannot be measured or obtained accurately enough. Without employing a complex longitudinal dynamic model and some difficultly obtained engine parameters, a numerical reasonable model is established based on the off-line data of the vehicle motion. And based on this model, a feed-forward and feedback control scheme is presented and a parameter-varying controller with high robustness is designed. To verify the tracking performance, the electric vehicle model in Matlab2018b is used in the simulating process and results conclude that the new control strategy is very effective. INDEX TERMS Velocity tracking, numerical reasonable model, autonomous vehicle.

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“…To this estimator, the following lemma is established: Lemma 1: To system (9), the filter (12) and estimator (13), the estimating error is defined as:…”

Section: Modeling the Previous Dynamics F Vsmentioning

confidence: 99%

Section: Modeling the Previous Dynamics F Vsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Lei

et al. 2019

IEEE Access

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“…On the other hand, longitudinal controller manipulates brake and throttle pedals to guide the autonomous vehicle to track a desired speed or acceleration profile. Many feedback or optimization control methods have been applied, including PID, 4 preview control, 12 sliding mode control, 13 and adaptive control. 14 Nevertheless, the acceleration demand in the process of speed control is generally ignored.…”

Section: Introductionmentioning

confidence: 99%

Integrated longitudinal and lateral control for autonomous vehicles with active load transfer strategy at the handling limits

Liu

Yang

Leng

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In order to avoid collisions in emergency conditions, the autonomous vehicle may be necessitated to maneuvers up to their handling limits. In these scenarios, the vehicle must be able to react quickly although the longitudinal and lateral coupled and nonlinear dynamics are significantly enhanced. To improve the accuracy of trajectory tracking and vehicle stability at the handling limits, this paper presents a hierarchical motion control framework that prioritizing lateral response. For lateral motion control, a nested architecture that consists of lateral deviation control and yaw rate control is designed considering parameter uncertainties. In longitudinal motion controller, the constraints of longitudinal tire forces are calculated on the premise of meeting steering demand. On this basis, an active load transfer strategy is proposed to optimize the steering response, which increasing the lateral stiffness of the front wheels through load transfer generated by active braking. Meanwhile, a longitudinal speed control algorithm considering the longitudinal acceleration demand is developed based on conditional integral method, to cope with the contradiction between fast tracking and small overshoot. Finally, experimental results in different scenarios demonstrate that the autonomous vehicle with the proposed control scheme can track the desired trajectory stably and accurately at the handling limits.

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H_∞optimal preview tracking control problem with disturbance attenuation

Liu

2022

Asian Journal of Control

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In this paper, the H∞ optimal preview tracking control problem of continuous‐time linear system with external disturbance is studied, where the reference signal is previewed and its amplitude does not decay. First, an augmented system with error vector, original system state derivative, and internal model state derivative is constructed, which transforms the tracking problem into the H∞ optimal output regulation problem. Second, the H∞ optimal control method is used to design the controller, and the output regulation of the augmented system is achieved by finding the upper bound of the discount factor. Then the optimal controller, including error integral, preview feed‐forward compensation, and internal model compensation, is obtained for the original problem, and meanwhile the sufficient conditions are also provided to guarantee the existence of the controller. Finally, both theoretical and simulation results show that under the proposed controller, the closed‐loop system can achieve asymptotic tracking and has robustness against the disturbance.

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Accurate and Smooth Speed Control for an Autonomous Vehicle

Cited by 43 publications

References 15 publications

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Integrated longitudinal and lateral control for autonomous vehicles with active load transfer strategy at the handling limits

H_∞optimal preview tracking control problem with disturbance attenuation

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Accurate and Smooth Speed Control for an Autonomous Vehicle

Cited by 43 publications

References 15 publications

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Integrated longitudinal and lateral control for autonomous vehicles with active load transfer strategy at the handling limits

H∞optimal preview tracking control problem with disturbance attenuation

Contact Info

Product

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H_∞optimal preview tracking control problem with disturbance attenuation