A path-following driver/vehicle model with optimized lateral dynamic controller

Reduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety...

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Main Authors: Behrooz Mashadi, Mehdi Mahmoudi-Kaleybar, Pouyan Ahmadizadeh, Atta Oveisi
Format: Article
Language:English
Published: Marcílio Alves
Series:Latin American Journal of Solids and Structures
Subjects:
Online Access:http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252014000400004&lng=en&tlng=en
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spelling doaj-0d8b0bbd0fbb4180b854c11363cfa64e2020-11-25T00:30:45ZengMarcílio AlvesLatin American Journal of Solids and Structures1679-782511461363010.1590/S1679-78252014000400004S1679-78252014000400004A path-following driver/vehicle model with optimized lateral dynamic controllerBehrooz Mashadi0Mehdi Mahmoudi-Kaleybar1Pouyan Ahmadizadeh2Atta Oveisi3Iran University of Science and TechnologyIslamic Azad UniversityIran University of Science and TechnologyIran University of Science and TechnologyReduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety systems development and more realistic explanation of vehicle path tracking problem. In this paper, an integrated driver/DYC control system is presented that regulates the steering angle and yaw moment, considering driver previewed path. Thus, the driver previewed distance, the heading error and the lateral deviation between the vehicle and desired path are used as inputs. Then, the controller determines and applies a corrective steering angle and a direct yaw moment to make the vehicle follow the desired path. A PID controller with optimized gains is used for the control of integrated driver/DYC system. Genetic Algorithm as an intelligent optimization method is utilized to adapt PID controller gains for various working situations. Proposed integrated driver/DYC controller is examined on lane change manuvers andthe sensitivity of the control system is investigated through the changes in the driver model and vehicle parameters. Simulation results show the pronounced effectiveness of the controller in vehicle path following and stability.http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252014000400004&lng=en&tlng=endriver modelvehicle path followingADAMSPID controller and genetic algorithm
collection DOAJ
language English
format Article
sources DOAJ
author Behrooz Mashadi
Mehdi Mahmoudi-Kaleybar
Pouyan Ahmadizadeh
Atta Oveisi
spellingShingle Behrooz Mashadi
Mehdi Mahmoudi-Kaleybar
Pouyan Ahmadizadeh
Atta Oveisi
A path-following driver/vehicle model with optimized lateral dynamic controller
Latin American Journal of Solids and Structures
driver model
vehicle path following
ADAMS
PID controller and genetic algorithm
author_facet Behrooz Mashadi
Mehdi Mahmoudi-Kaleybar
Pouyan Ahmadizadeh
Atta Oveisi
author_sort Behrooz Mashadi
title A path-following driver/vehicle model with optimized lateral dynamic controller
title_short A path-following driver/vehicle model with optimized lateral dynamic controller
title_full A path-following driver/vehicle model with optimized lateral dynamic controller
title_fullStr A path-following driver/vehicle model with optimized lateral dynamic controller
title_full_unstemmed A path-following driver/vehicle model with optimized lateral dynamic controller
title_sort path-following driver/vehicle model with optimized lateral dynamic controller
publisher Marcílio Alves
series Latin American Journal of Solids and Structures
issn 1679-7825
description Reduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety systems development and more realistic explanation of vehicle path tracking problem. In this paper, an integrated driver/DYC control system is presented that regulates the steering angle and yaw moment, considering driver previewed path. Thus, the driver previewed distance, the heading error and the lateral deviation between the vehicle and desired path are used as inputs. Then, the controller determines and applies a corrective steering angle and a direct yaw moment to make the vehicle follow the desired path. A PID controller with optimized gains is used for the control of integrated driver/DYC system. Genetic Algorithm as an intelligent optimization method is utilized to adapt PID controller gains for various working situations. Proposed integrated driver/DYC controller is examined on lane change manuvers andthe sensitivity of the control system is investigated through the changes in the driver model and vehicle parameters. Simulation results show the pronounced effectiveness of the controller in vehicle path following and stability.
topic driver model
vehicle path following
ADAMS
PID controller and genetic algorithm
url http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252014000400004&lng=en&tlng=en
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AT pouyanahmadizadeh pathfollowingdrivervehiclemodelwithoptimizedlateraldynamiccontroller
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