Volume 42 Issue 7
Aug 2022
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JOURNAL OF MECHANICAL ENGINEERING  > 2022  >  42(7): 706-712.
XU Bin, ZHANG Dapeng, YANG Haiyang, HAN Ziyong. Dual Closed-Loop Control of Intelligent Vehicles Trajectory Tracking Based on Steering Response Characteristics[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 42(7): 706-712. doi: 10.15918/j.tbit1001-0645.2021.328
Citation: XU Bin, ZHANG Dapeng, YANG Haiyang, HAN Ziyong. Dual Closed-Loop Control of Intelligent Vehicles Trajectory Tracking Based on Steering Response Characteristics[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 42(7): 706-712. doi: 10.15918/j.tbit1001-0645.2021.328
shu

Dual Closed-Loop Control of Intelligent Vehicles Trajectory Tracking Based on Steering Response Characteristics

doi: 10.15918/j.tbit1001-0645.2021.328
  • 1.

    School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    Chongqing Innovation Center, Beijing Institute of Technology, Chongqing 401135, China

  • 3.

    Institute of Advanced Technology, Beijing Institute of Technology, Ji’nan, Shandong 250307, China

  • Received Date: 29 Nov 2021
  • Issue Publish Date: 17 Aug 2022
    Abstract
  • The accuracy and robustness of intelligent vehicle trajectory tracking are important characteristic of vehicle motion control performance. Many Researches of tracking control based on path preview information have significantly improved vehicle performance. However, the insufficient response of the vehicle steering system have caused many difficulties for the vehicle to accurately track the reference trajectory based on the preview information in real time. To solve this problem, introducing state of the steering system in real time, a dual closed-loop trajectory tracking control structure was established to ensure the robustness of the intelligent vehicle trajectory tracking control algorithm for the insufficient response of the steering system. Concretely, in the outer loop of this structure, a model predictive control method was used to solve the optimal steering angle based on preview information. And in the inner loop of this structure, a PID method was used to design a feedback control law based on steering state error to compensate for insufficient steer­ing response. Coupling control input, the dual closed-loop structure can ensure the robust optimal tracking control of the vehicle. Finally, the effectiveness of the dual closed-loop control struc­ture was verified in Carsim and Simulink co-simulation.

     

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