Authors: Li Xueyun; Liang Shuang; Zhang Ju
Addresses: School of Vehicle Engineering, Hubei University of Automotive Technology, Shiyan, 442002, China ' School of College of Mechanical Engineering, Sichuan University, Chengdu 610065, China ' School of Vehicle Engineering, Hubei University of Automotive Technology, Shiyan, 442002, China
Abstract: In order to improve the stability and fault tolerance of the control system of the autonomous vehicle in the middle and low speed lane changing, a dual loop weighted trajectory tracking robust control system is designed. Firstly, the lateral displacement transfer function and yaw angle transfer function are derived by combining the mathematical model of trajectory planning and vehicle motion, and the proportion integral differential (PID) control parameters are calculated by mathematical derivation and transfer function reduction. Then, the influence of weighting coefficient on system stability and its determination method are studied by simulation. The results show that the dual-loop weighted control is feasible and effective, and it could provide a good fault tolerance, good control ability, good tracking effect, and small lateral displacement error and yaw angular velocity error for lane changing conditions in the medium and low speed.
Keywords: autonomous vehicle; lane changing; trajectory tracking; robust controller; fault tolerance; stability; weighting coefficient; dual-loop weighted control; yaw rate; lateral displacement.
International Journal of Vehicle Performance, 2020 Vol.6 No.4, pp.381 - 398
Received: 10 Mar 2020
Accepted: 02 May 2020
Published online: 23 Nov 2020 *