Trajectory tracking control of autonomous vehicle based on steering and braking coordination

被引：1
|
作者：
Li Y. [1 ]
Guo C. [2 ]
Li Y. [1 ]
Zhao Y. [2 ]
机构：
[1] Unit 63921 of the PLA, Beijing
[2] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2023年 / 45卷 / 04期
关键词：
autonomous vehicle; emergency obstacle avoidance; hierarchical coordination; high-speed low friction; trajectory tracking;
D O I：
10.12305/j.issn.1001-506X.2023.04.27
中图分类号：
学科分类号：
摘要：
Aiming at the instability problem of autonomous vehicle during trajectory tracking control under extreme road conditions, a layered cooperative trajectory tracking control method utilizing front wheel steering and differential braking is proposed. Firstly, based on the model predictive control algorithm, the upper-layer trajectory tracking controller is designed to control the steering angle of the front wheel to achieve the desired trajectory tracking control under normal working conditions. Secondly, based on the sliding mode control algorithm, the bottom-layer yaw stability controller is designed to obtain the additional yaw moment required for maintaining trajectory tracking stability. Furthermore, a differential braking control strategy is introduced to dynamically distribute the braking torque of individual wheels. The co-simulation results show that the proposed hierarchical cooperative trajectory tracking control method can effectively improve the vehicle stability and trajectory tracking accuracy under extreme road conditions. © 2023 Chinese Institute of Electronics. All rights reserved.
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页码：1185 / 1192
页数：7
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