{"title":"Nonlinear model predictive control of vehicle trajectory tracking using tilting technology","authors":"Jialing Yao, Yanan Bai, Yunyi Jia","doi":"10.1177/09544070241266285","DOIUrl":null,"url":null,"abstract":"To enhance the performance of trajectory tracking in high-speed autonomous vehicles, this paper adopts a new technology for controlling the vehicle body to tilt toward the inside of a curve, known as “tilting technology.” It achieves this tilt through an active suspension system that inclines the vehicle body toward the inside of the curve, thereby reducing or offsetting the torque generated by gravity with the torque produced by centrifugal force. This significantly improves the vehicle’s handling stability and anti-rollover capability. Integrating this technology with active steering control, a nonlinear model predictive trajectory tracking controller has been designed. For this integrated controller, the Fiala lateral tire force model is used to establish a nonlinear vehicle model with steering-rolling dynamics, while a double-lane-change and single-lane-change tests are designed as the reference paths. To avoid the tilting angle of the vehicle body being too large to exceed the effective stroke of the suspension, a clipped ideal tilt angle is adopted as the desired tilting angle. Simulation verification is carried out to confirm the validity of the integrated trajectory tracking control. The proposed controller is compared with two other trajectory tracking controllers, the controller that takes zero rolling angle as the control target and the controller without rolling control. The results show that, compared with the latter two, the proposed trajectory tracking controller can ensure well tracking ability, meanwhile effectively improving the handling stability, anti-rollover capability, and occupant lateral ride comfort during trajectory tracking for high-speed unmanned vehicles.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/09544070241266285","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
To enhance the performance of trajectory tracking in high-speed autonomous vehicles, this paper adopts a new technology for controlling the vehicle body to tilt toward the inside of a curve, known as “tilting technology.” It achieves this tilt through an active suspension system that inclines the vehicle body toward the inside of the curve, thereby reducing or offsetting the torque generated by gravity with the torque produced by centrifugal force. This significantly improves the vehicle’s handling stability and anti-rollover capability. Integrating this technology with active steering control, a nonlinear model predictive trajectory tracking controller has been designed. For this integrated controller, the Fiala lateral tire force model is used to establish a nonlinear vehicle model with steering-rolling dynamics, while a double-lane-change and single-lane-change tests are designed as the reference paths. To avoid the tilting angle of the vehicle body being too large to exceed the effective stroke of the suspension, a clipped ideal tilt angle is adopted as the desired tilting angle. Simulation verification is carried out to confirm the validity of the integrated trajectory tracking control. The proposed controller is compared with two other trajectory tracking controllers, the controller that takes zero rolling angle as the control target and the controller without rolling control. The results show that, compared with the latter two, the proposed trajectory tracking controller can ensure well tracking ability, meanwhile effectively improving the handling stability, anti-rollover capability, and occupant lateral ride comfort during trajectory tracking for high-speed unmanned vehicles.
期刊介绍:
Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance.
Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.