Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 16, Issue 6, Pages -Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2015.2435016
Keywords
Autonomous vehicles; path following; preview control; desired-heading amendment
Categories
Funding
- National Science Foundation of China [51205058, 51375086]
- Jiangsu Province Science Foundation for Youths, China [BK20140634]
- Foundation of Guangxi Key Laboratory of Manufacturing System and Advanced Manufacturing Technology [14-045-15-013K]
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The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the tangent direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading, which realizes a more accurate path-following maneuver. In the controller design phase, backstepping is used to generate the required yaw rate, and an LQR controller is adopted to obtain the optimal active front steering input. The CarSim-Simulink joint simulation verifies the reasonability of the amendment to the desired heading.
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