It is worth noting that tracking precision and lateral stability of the autonomous vehicle are adversely affected by modeling uncertainties and external disturbances, especially under extreme conditions. Therefore, A hierarchical control strategy is introduced to realize coordinated path tracking and directed yaw moment control. In the mode decision layer, the determination of weight coefficients for controllers is guided by the extension control theory, taking into consideration the real-time vehicle status characteristics. In the control execution layer, an extended state observer is incorporated into the path tracking controller to estimate uncertainties and disturbances, and a feedforward control scheme, based on model predictive control, is implemented to compensate for the front wheel steering angle. In addition, a direct yaw moment controller grounded in active disturbance rejection control theory is formulated to compute corresponding wheel braking torque. Simulation findings demonstrate that the presented coordinated control strategy exhibits superior tracking precision and lateral stability.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path Tracking and Direct Yaw Moment Coordinated Control for Autonomous Vehicles Considering Uncertainties and Disturbances*


    Contributors:
    Zhao, Shuen (author) / Zhao, Maojie (author) / Chen, Wenbin (author)


    Publication date :

    2023-10-27


    Size :

    5898604 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    The coordinated scheduling of autonomous vehicles considering traffic

    Koohizadeh Dehkordi, Arman / Yaser Derakhshndeh, Sayed / Mobini, Zahra et al. | IEEE | 2022