Design for the Steering Controller of Autonomous Vehicles at the Limits of Handling

作者：Sun, Chuanyang; Zhang, Xin^*; Xi, Lihe; Chen, Hongwei

来源：Journal of South China University of Technology(Natural Science Edition), 2018, 46(3): 78-85.

DOI：10.3969/j.issn.1000-565X.2018.03.012

• Affine approximation
• Computational burden
• Lateral force
• Path tracking
• Steering controllers
• Tracking accuracy
• Vehicle dynamics
• Vehicle stability

This paper presents a path tracking steering controller based on the model predictive control (MPC) that simultaneously minimizes lateral path tracking deviation while maintaining vehicle stability for autonomous vehicles at the limits of handling. To improve the tracking accuracy, the course direction deviation is chosen for refe-rential state, and the steady-state sideslip is used to calculate the course direction deviation instead of using the real-time sideslip. By using the lateral force of front tire as the input of the controller directly, and linearizing the rear tire force by the affine approximation, the computational burden can be reduced. The simulation results on a CarSim-Simulink demonstrate that the present controller can operate the vehicle stably at the limits of tire adhesion, and has a better performance in tracking in comparison with the traditional controller.

• 出版日期2018-3-1
• 单位北京交通大学