Chinese Journal of Mechanical Engineering >

2019 , Vol. 32 >Issue 1: 16 - 16

DOI: https://doi.org/10.1186/s10033-019-0327-9

Intelligent Manufacturing Technology

Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control

  • Fen Lin ,
  • Yaowen Zhang ,
  • Youqun Zhao ,
  • Guodong Yin ,
  • Huiqi Zhang ,
  • Kaizheng Wang
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  • 1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. School of Mechanical Engineering, Southeast University, Nanjing 211189, China

收稿日期: 2017-06-08

  网络出版日期: 2019-07-19

基金资助

Supported by National Natural Science Foundation of China (Grant No. 51475432), Zhejiang Provincial National Natural Science Foundation of China (Grant No. LZ13E050003), and State Key Program of National Natural Science of China (Grant Nos. U1234207, U1709210)

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Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control

  • Fen Lin ,
  • Yaowen Zhang ,
  • Youqun Zhao ,
  • Guodong Yin ,
  • Huiqi Zhang ,
  • Kaizheng Wang
Expand
  • 1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. School of Mechanical Engineering, Southeast University, Nanjing 211189, China

Received date: 2017-06-08

  Online published: 2019-07-19

Supported by

Supported by National Natural Science Foundation of China (Grant No. 51475432), Zhejiang Provincial National Natural Science Foundation of China (Grant No. LZ13E050003), and State Key Program of National Natural Science of China (Grant Nos. U1234207, U1709210)

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摘要

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal-lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.

关键词： Autonomous vehicle; Trajectory tracking; Direct yaw moment control (DYC); Model predictive control (MPC); Longitudinal–lateral control

本文引用格式

Fen Lin , Yaowen Zhang , Youqun Zhao , Guodong Yin , Huiqi Zhang , Kaizheng Wang . Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control[J]. Chinese Journal of Mechanical Engineering, 2019 , 32(1) : 16 -16 . DOI: 10.1186/s10033-019-0327-9

Abstract

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal-lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.

Key words： Autonomous vehicle; Trajectory tracking; Direct yaw moment control (DYC); Model predictive control (MPC); Longitudinal–lateral control

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