Abstract Existing research on path following strategies generally does not consider the interference effect of active anti‐roll (AAR) action. This seriously affects the driving safety under extreme obstacle avoidance and other conditions. Therefore, based on the non‐cooperative Stackelberg equilibrium theory, this research proposes a lateral trajectory tracking strategy that considers AAR decision. First, a yaw‐roll coupled dynamic model of commercial vehicle with front wheel angle and AAR moment as input is established to describe the coupling effect of vehicle lateral and roll motions. Then, based on the Stackelberg equilibrium theory, active front steering (AFS) system and AAR bar system are modelled as the leader and follower in the leader–follower collaborative control strategy, respectively. Finally, simulation and experiments show that the leader–follower collaborative control strategy can effectively improve the control conflict between the two systems and improve the anti‐roll performance during trajectory tracking.


    Access

    Download


    Export, share and cite



    Title :

    A lateral trajectory tracking control method for intelligent commercial vehicles considering active anti‐roll decision based on Stackelberg equilibrium


    Contributors:
    Yang Yan (author) / Jian Wu (author) / Xin Liu (author) / Ying Zhao (author) / Shuai Wang (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown







    Vehicle trajectory tracking and stability coordination control method considering roll

    XIA XIAOJUN / CHEN DEBING / HUANG YI et al. | European Patent Office | 2024

    Free access

    MPC-Based Trajectory Tracking Control for Intelligent Vehicles

    Zhu, Bing / Zhang, Sumin / Ming, Tingyou et al. | SAE Technical Papers | 2016