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- Title
An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking.
- Authors
Tavan, Nematollah; Tavan, Mehdi; Hosseini, Rana
- Abstract
In this paper, an optimal controller for integrated longitudinal and lateral closed loop vehicle/driver dynamics proposed to follow desired path in various driving maneuvers, which also improved maneuverability and stability of vehicle over desired path. Designed controller imposed corrected steering angle and torque on the wheels to keep the vehicle on the desired trajectory whilst modified its handling properties. In the next stage, performance of proposed optimal linear quadratic regulator (LQR) controller compared with Proportional-integrated-derivative (PID) one. The proposed controllers has been implemented on vehicle eight degree of freedom model in MATLAB/Simulink. Then the effects of adaptive controller on vehicle path following has been examined for various maneuvers, by driving on the lane change, J-turn, double lane-change and desired tracks. Finally, longitudinal dynamic performance of vehicle has been investigated during severe braking conditions. Simulation results indicated the dominate efficiency of controller on the vehicle stabilization and path following. Also, it improved longitudinal dynamics performance by preventing wheel lock and reducing stopping distance.
- Subjects
MOTOR vehicles; OPTIMAL control theory; CALCULUS of variations; AUTOMOTIVE transportation; TORQUE
- Publication
Latin American Journal of Solids & Structures, 2015, Vol 12, Issue 6, p1006
- ISSN
1679-7817
- Publication type
Article
- DOI
10.1590/1679-78251365