A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles
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...
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Vilnius Gediminas Technical University
2021-06-01
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| Online Access: | https://journals.vgtu.lt/index.php/Transport/article/view/14291 |
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doaj-69632fd6698940b080abdaf8d8db19e62021-06-23T06:52:12ZengVilnius Gediminas Technical UniversityTransport1648-41421648-34802021-06-0136214716310.3846/transport.2021.1429114291A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehiclesRunqiao Liu0Minxiang Wei1Nan Sang2Jianwei Wei3Dept of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, ChinaDept of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, ChinaDept of Vehicle Engineering, Changzhou Institute of Technology, Changzhou, Jiangsu, ChinaDept of Automotive Engineering, Ningbo University of Technology, Ningbo, Zhejiang, ChinaTo 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. First published online 12 March 2021https://journals.vgtu.lt/index.php/Transport/article/view/14291four-wheel steeringcurved trajectory-trackingactive disturbance rejection controlanti-crosswindanti-sideslipanti-rollovercarsim® |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Runqiao Liu Minxiang Wei Nan Sang Jianwei Wei |
| spellingShingle |
Runqiao Liu Minxiang Wei Nan Sang Jianwei Wei A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles Transport four-wheel steering curved trajectory-tracking active disturbance rejection control anti-crosswind anti-sideslip anti-rollover carsim® |
| author_facet |
Runqiao Liu Minxiang Wei Nan Sang Jianwei Wei |
| author_sort |
Runqiao Liu |
| title |
A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles |
| title_short |
A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles |
| title_full |
A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles |
| title_fullStr |
A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles |
| title_full_unstemmed |
A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles |
| title_sort |
trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles |
| publisher |
Vilnius Gediminas Technical University |
| series |
Transport |
| issn |
1648-4142 1648-3480 |
| publishDate |
2021-06-01 |
| description |
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.
First published online 12 March 2021 |
| topic |
four-wheel steering curved trajectory-tracking active disturbance rejection control anti-crosswind anti-sideslip anti-rollover carsim® |
| url |
https://journals.vgtu.lt/index.php/Transport/article/view/14291 |
| work_keys_str_mv |
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