Analysis of Lateral Dynamics of the Semi- Autonomous Vehicles for Lane Changes and Cornering Maneuvers

Résumé

Abstract This paper investigates the challenge of maneuvering the safety and stability of semi-autonomous vehicles (SAVs) while tracking major aspects of their lateral dynamics under unpredictable situations and conditions. The common aspects of all these cases have been the necessity for balancing that model simplicity with the ability to be able to reflect the real system by using a simple geometric bicycle model, a realistic bicycle model taking into consideration forces, and state-space representation designed with capacity in mind to handle nonlinearities and disturbances. These are used in control strategies to safer and smother maneuvers. We evaluate how well SAVs maintain safety under various conditions based on lateral deviation, relative yaw angle (heading error), and steering wheel angle. The Model Predictive Control (MPC) maintains adaptability during changes, not only in terms of vehicle mass but also velocity, by the use of a cost function that governs smooth maneuvering with minimum deviation (convergence to zero). As an additional observation, at non-nominal velocities, the heavier ones may present a bigger recovery, whereas the lighter vehicles recover faster. The cost function used in MPC for the model will handle these variations so that once, stability and ride comfort can be predicted for different masses of vehicles and their respective speeds.

Citer ce document

Accès au document

Texte intégral en lecture en ligne, réservé aux abonnés SPHAERO et aux membres de l'institution. Se connecter

Voir l'article sur le site de la revue

Auteur(s)

Statistiques

Consultations : 1

Téléchargements : 0