A TRAJECTORY-TRACKING CONTROLLER FOR IMPROVING THE SAFETY AND STABILITY OF FOUR-WHEEL STEERING AUTONOMOUS VEHICLES

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2021-03-12 DOI:10.3846/TRANSPORT.2021.14291

Runqiao Liu, Minxiang Wei, Nan Sang, Jianwei Wei

引用次数: 1

Abstract

To achieve anti-crosswind, anti-sideslip, and anti-rollover in trajectory-tracking for Four-Wheel Steering (4WS) autonomous vehicles, a trajectory-tracking controller based on a four-channel Active Disturbance Rejection Control (ADRC) was used to track the desired lateral displacement, longitudinal displacement, yaw angle, and roll angle, and minimize the tracking errors between the actual output values and the desired values through static decoupling steering and braking systems. In addition, the anti-crosswind, anti-sideslip, and anti-rollover simulations were implemented with CarSim®. Finally, the simulation results showed that the 4WS autonomous vehicle with the controller still has good anti-crosswind, anti-sideslip, and anti-rollover performance in path tracking, even under a small turning radius or lowadhesion curved roads.

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一种提高四轮转向自动驾驶汽车安全性和稳定性的轨迹跟踪控制器

为了实现四轮转向(4WS)自动驾驶汽车的抗侧风、抗侧滑和抗侧翻轨迹跟踪，采用基于四通道自抗扰控制(ADRC)的轨迹跟踪控制器对期望的横向位移、纵向位移、偏航角和侧滚角进行跟踪，并通过转向与制动系统的静态解耦，使实际输出值与期望值之间的跟踪误差最小化。此外，利用CarSim®进行了抗侧风、抗侧滑和抗侧翻仿真。最后，仿真结果表明，在小转弯半径或低附着度弯道下，采用该控制器的4WS自动驾驶汽车在路径跟踪中仍具有良好的抗侧风、抗侧滑和抗侧翻性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

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.