Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation
ISSN: 0264-4401
Article publication date: 31 October 2023
Issue publication date: 5 December 2023
Abstract
Purpose
This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle.
Design/methodology/approach
In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors’ model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors’ synergistic architecture.
Findings
The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety.
Originality/value
The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems.
Keywords
Acknowledgements
This work was supported by the Natural Science Foundation of Hebei Province of China(Grant No. E2016402066) and the High-Level Talent Project of Hebei Province of China: Integrated Research and Simulation Realization of Vehicle Ride Comfort and Handling Stability (Grant No. B2017003026).
Citation
Guo, Z., Liu, F., Shang, Y., Li, Z. and Qin, P. (2023), "Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation", Engineering Computations, Vol. 40 No. 9/10, pp. 2814-2840. https://doi.org/10.1108/EC-07-2023-0345
Publisher
:Emerald Publishing Limited
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