Authors: Yingjie Liu; Dawei Cui
Addresses: School of Mechanical-Electronic and Vehicle Engineering, Weifang University, Weifang 261061, Shandong, China ' School of Mechanical-Electronic and Vehicle Engineering, Weifang University, Weifang 261061, Shandong, China
Abstract: A path planning problem for inverse vehicle handling dynamics is considered. The objective is to devise a path tracking controller under the condition that a vehicle travels along a prescribed path to generate an expected trajectory. Aiming at this purpose, a tyre model and optimal preview time are established firstly. And then a path tracking controller based on Linear Quadratic Regulator (LQR) method is designed and calculation for the path tracking problem is simulated with a joint simulation of Carsim/Simulink. Finally, a real-vehicle test is executed to verify the rationality of the path tracking controller. The results show that the minimum lateral position error between the generated trajectory and the prescribed path can be a good indicator of successful solving of the path tracking problem in inverse vehicle handling dynamics for LQR method. The study can help drivers easily identify safe lane-keeping trajectories and area.
Keywords: vehicle handling dynamics; path tracking; LQR; inverse problem.
International Journal of Vehicle Safety, 2019 Vol.11 No.2, pp.120 - 135
Accepted: 18 Jun 2019
Published online: 27 Aug 2019 *