AN OPTIMAL INTEGRATED LONGITUDINAL AND LATERAL DYNAMIC CONTROLLER DEVELOPMENT FOR VEHICLE PATH TRACKING
Keywords:
VEHICLE PATH FOLLOWING, HANDLING, OPTIMAL CONTROLLER, INTEGRATED LATERAL & LONGITUDINAL DYNAMICAbstract
IN THIS PAPER, AN OPTIMAL CONTROLLER FOR INTEGRATED LONGITUDINAL AND LATERAL CLOSED LOOP VEHICLE/DRIVER DYNAMICS PROPOSED TO FOLLOW DESIRED PATH IN VARIOUS DRIVING MANEUVERS, WHICH ALSO IMPROVED MANEUVERABILITY AND STABILITY OF VEHICLE OVER DESIRED PATH. DESIGNED CONTROLLER IMPOSED CORRECTED STEERING ANGLE AND TORQUE ON THE WHEELS TO KEEP THE VEHICLE ON THE DESIRED TRAJECTORY WHILST MODIFIED ITS HANDLING PROPERTIES. IN THE NEXT STAGE, PERFORMANCE OF PROPOSED OPTIMAL LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER COMPARED WITH PROPORTIONAL-INTEGRATED-DERIVATIVE (PID) ONE. THE PROPOSED CONTROLLERS HAS BEEN IMPLEMENTED ON VEHICLE EIGHT DEGREE OF FREEDOM MODEL IN MATLAB/SIMULINK. THEN THE EFFECTS OF ADAPTIVE CONTROLLER ON VEHICLE PATH FOLLOWING HAS BEEN EXAMINED FOR VARIOUS MANEUVERS, BY DRIVING ON THE LANE CHANGE, J-TURN, DOUBLE LANE-CHANGE AND DESIRED TRACKS. FINALLY, LONGITUDINAL DYNAMIC PERFORMANCE OF VEHICLE HAS BEEN INVESTIGATED DURING SEVERE BRAKING CONDITIONS. SIMULATION RESULTS INDICATED THE DOMINATE EFFICIENCY OF CONTROLLER ON THE VEHICLE STABILIZATION AND PATH FOLLOWING. ALSO, IT IMPROVED LONGITUDINAL DYNAMICS PERFORMANCE BY PREVENTING WHEEL LOCK AND REDUCING STOPPING DISTANCE.
 
Downloads
Published
Issue
Section
License
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License [CC BY] that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).