Optimal Control of Path Tracking for Vehicle-Handling Dynamics

Liu, Yingjie; Dou, Chao; Sun, Qiuyun; Xu, Qijiang

doi:10.4271/06-13-03-0017

SAE Int. J. Passeng. Cars - Mech. Syst.

2020

DOI: 10.4271/06-13-03-0017

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Optimal Control of Path Tracking for Vehicle-Handling Dynamics

Yingjie Liu¹,

Chao Dou²,

Qiuyun Sun³

et al.

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Cited by 3 publications

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Optimum Path Tracking Control for the Inverse Problem of Vehicle Handling Dynamics Based on the hp-Adaptive Gaussian Pseudospectral Method

Liu

Sun

Cui

2021

Mathematical Problems in Engineering

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We propose a vehicle path-tracking method based on the hp-adaptive Gaussian pseudospectral method (GPM), which tackles the problem of the slow convergence speed of the optimal control of vehicle path tracking. First, we establish a kinematic vehicle model by considering the path constraints and boundary constraints during the process of tracking the described path of a vehicle. Subsequently, finding the minimum error of the lateral distance between the prescribed path and the expected trajectory is set as the performance objective function. Finally, the vehicle path tracking problem is transformed into an optimal control problem. The optimization algorithm is combined with the sequential quadratic programming algorithm to optimize problems related to the control and state variables and the boundary and path constraints. The simulated results show that the hp-adaptive GPM can improve the convergence rate of the optimal control problem for vehicle path tracking. The proposed hp-adaptive pseudospectral method has a higher solving efficiency compared with traditional approaches for the vehicle path-tracking problem. Concurrently, the verification results of a real vehicle test indicate the feasibility of the proposed algorithm for solving the vehicle path tracking problem. This research provides valuable insight into the design work of lane changes and is an important step towards the design of feedback control laws for path tracking.

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Optimum Path Tracking Control for the Inverse Problem of Vehicle Handling Dynamics Based on the hp-Adaptive Gaussian Pseudospectral Method

Liu

Sun

Cui

2021

Mathematical Problems in Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

Experimental and Numerical Simulation of a Symmetrical Three-Cylinder Buoy

et al. 2022

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The wave resistance of a buoy is affected by the mode of anchorage and the buoy structure. Combining the structures and the mode of anchorage of the existing buoys, designing a buoy with significantly improved wave resistance is a major challenge for marine environment monitoring. This work carried out experimental and numerical simulation studies on the hydrodynamic properties of a self-designed symmetrical three-cylinder buoy. The wave resistance of the buoy was analyzed using different wave conditions, and a full-scale simulation of the buoy was performed using the finite element method and lumped mass method. Experimentally, it was found that the symmetrical three-cylinder buoy stability was less affected by the wave height, but mainly by the wave period. Additionally, the effects of wave height and wave period on mooring tension were also studied, and the results showed that mooring tension was mainly affected by wave period, which was explained by the rate of change of the buoy momentum. Finally, a numerical model was proposed for the interpretation of these experiments. Results from numerical simulations for the trajectory of the buoy and the tension of the mooring cable correlated well with the experimental data.

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A Survey of Intelligent Driving Vehicle Trajectory Tracking Based on Vehicle Dynamics

Zha¹,

Deng²,

Qiu³

et al. 2023

SAE Int. J. Veh. Dyn., Stab., and NVH

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<div>Trajectory tracking control, as one of the core technologies of intelligent driving vehicles, determines the driving performance and safety of intelligent driving vehicles and has received extensive attention and research. In recent years, most of the research results of trajectory tracking control are only applicable to conventional working conditions; however, the actual operating conditions of intelligent driving vehicles are complex and variable, so the research of trajectory tracking control algorithm should be extended to the high-speed low-adhesion coefficient, large curvature, variable curvature, and other compound limit working conditions. This requires more consideration of the vehicle dynamics in the controller design. In this article, a comprehensive review of trajectory tracking control under extreme operating conditions is conducted from three levels: vehicle dynamics model, vehicle speed tracking (longitudinal motion control), and path tracking (transverse motion control), and the existing research results are analyzed and summarized to obtain the research trends and pain points and difficulties in each field. On this basis, the future outlook of trajectory tracking control is proposed, which is expected to provide some help and inspiration to the research workers in this field.</div>

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Optimal Control of Path Tracking for Vehicle-Handling Dynamics

Cited by 3 publications

References 0 publications

Optimum Path Tracking Control for the Inverse Problem of Vehicle Handling Dynamics Based on the hp-Adaptive Gaussian Pseudospectral Method

Optimum Path Tracking Control for the Inverse Problem of Vehicle Handling Dynamics Based on the hp-Adaptive Gaussian Pseudospectral Method

Experimental and Numerical Simulation of a Symmetrical Three-Cylinder Buoy

A Survey of Intelligent Driving Vehicle Trajectory Tracking Based on Vehicle Dynamics

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