scholarly journals Robust Control with Uncertain Disturbances for Vehicle Drift Motions

2021 ◽  
Vol 11 (11) ◽  
pp. 4917
Author(s):  
Dongxin Xu ◽  
Guoye Wang ◽  
Longtao Qu ◽  
Chang Ge
Keyword(s):  
Robust Control ◽  
Autonomous Vehicles ◽  
Driving Safety ◽  
Recent Theory ◽  
Steering Angle ◽  
Drift Motion ◽  
Yaw Rate ◽  
Target Values ◽  
Uncertain Disturbances ◽  
Drift Conditions

Professor drivers, including racing drivers, can drive cars to achieve drift motions by taking control of the steering angle in high tire slip ratios, which provides a way to improve the driving safety of autonomous vehicles. The existing studies can be divided into two kinds based on analysis methods, and the theory-based is chosen in this study. Because the recent theory based is most applied for planar models with neglect of the rollover accident risk, the nonlinear vehicle model is established by considering longitudinal, lateral, roll, and yaw motions and rolling safety with the nonlinear tire model UniTire. The drift motion mechanism is analyzed in steady and transient states to obtain drift motion conditions, including the velocity limitation and the relationship between sideslip angle and yaw rate, and vehicle main status parameters including the velocity, side-slip angle and yaw rate in drift conditions. The state-feedback controller is designed based on robust theory and LMI (linear matrix inequation) with uncertain disturbances to realize circle motions in drift conditions. The designed controller in simulations realizes drift circle motions aiming at analyzed status target values by matching the front-wheel steering angle with saturated tire forces, which satisfies the Lyapunov stability with robustness. Robust control in drift conditions solves the problem of how to control vehicles to perform drift motions with uncertain disturbances and improves the driving safety of autonomous vehicles.

Comparison of Analytical and Empirical Models to Capture Variations in Off-Road Vehicle Dynamics

2005 ◽  
Author(s):  
Paul J. Pearson ◽  
David M. Bevly
Keyword(s):  
Empirical Data ◽  
Vehicle Dynamics ◽  
Experimental Validation ◽  
Inertial Sensors ◽  
Analytical Models ◽  
Control Algorithms ◽  
Model Parameters ◽  
Steering Control ◽  
Steering Angle ◽  
Yaw Rate

This paper develops two analytical models that describe the yaw dynamics of a farm tractor and can be used to design or improve steering control algorithms for the tractor. These models are verified against empirical data. The particular dynamics described are the motions from steering angle to yaw rate. A John Deere 8420 tractor, outfitted with inertial sensors and controlled through a PC-104 form factor computer, was used for experimental validation. Conditions including different implements at varying depths, as would normally be found on a farm, were tested. This paper presents the development of the analytical models, validates them against empirical data, and gives trends on how the model parameters change for different configurations.

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

From Neuron Coverage to Steering Angle: Testing Autonomous Vehicles Effectively

Computer ◽  
2021 ◽  
Vol 54 (8) ◽  
pp. 77-85
Author(s):  
Jack R Toohey ◽  
M S Raunak ◽  
David Binkley
Keyword(s):  
Autonomous Vehicles ◽  
Steering Angle

Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability

2020 ◽  
Vol 235 (1) ◽  
pp. 260-272
Author(s):  
Yixiao Liang ◽  
Yinong Li ◽  
Ling Zheng ◽  
Yinghong Yu ◽  
Yue Ren
Keyword(s):  
Autonomous Vehicles ◽  
Longitudinal Velocity ◽  
Path Following ◽  
Linear Matrix ◽  
Yaw Rate ◽  
Path Following Control ◽  
Inequality Theory ◽  
Conflicting Objectives ◽  
Upper Level ◽  
Dynamics Stability

The path-following problem for four-wheel independent driving and four-wheel independent steering electric autonomous vehicles is investigated in this paper. Owing to the over-actuated characters of four-wheel independent driving and four-wheel independent steering autonomous vehicles, a novel yaw rate tracking-based path-following controller is proposed. First, according to the kinematic relationships between vehicle and the reference path, the yaw rate generator is designed by linear matrix inequality theory, with the ability to minimize the disturbances caused by vehicle side slip and varying curvature of path. Considering that the path-following objective and dynamics stability are in conflict with each other in some extreme path-following conditions, a coordinating mechanism based on yaw rate prediction is proposed to satisfy the two conflicting objectives. Then, according to the desired yaw rate and longitudinal velocity, a hierarchical structure is introduced for motion control. The upper-level controller calculates the generalized tracking forces while the allocation layer optimally distributes the generalized forces to tires considering tire vertical load and adhesive utilization. Finally, simulation results indicate that the proposed method can achieve excellent path-following performances in different driving conditions, while both path-following objective and dynamics stability can be satisfied.

scholarly journals A Survey on Deep Learning for Steering Angle Prediction in Autonomous Vehicles

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 163797-163817
Author(s):  
Usman Manzo Gidado ◽  
Haruna Chiroma ◽  
Nahla Aljojo ◽  
Saidu Abubakar ◽  
Segun I. Popoola ◽  
...  
Keyword(s):  
Deep Learning ◽  
Autonomous Vehicles ◽  
Steering Angle

Vehicle Stability Analyse with Electronic Power Steering Based on Yaw Rate Feedback

2013 ◽  
Vol 397-400 ◽  
pp. 1351-1356
Author(s):  
Hai Feng Song ◽  
Wei Wei Yang
Keyword(s):  
Control Method ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Steering Angle ◽  
Yaw Rate ◽  
Power Steering ◽  
Rate Feedback ◽  
Yaw Stability ◽  
Yaw Moment

A control method is proposed to improve vehicle yaw stability by the integrated control of yaw moment control. The control strategy using feedback compensator is proposed, which produces direct yaw moment and front steering angle to control yaw rate, by actively controlling the front steering angle, the integrated control system makes the performance of the actual vehicle model follow that of an ideal vehicle model. A experiment is performed at different conditions, the results showed the presented method can effectively control the yaw rate, and at the same time lighten the burden of the driver. Key words: EPS; Yaw rate feedback; Vehicle stability

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