Improvement of the autodriver algorithm for autonomous vehicles using roll dynamics

• Autorzy: Nok To Ching , Milani Sina , Marzbani Hormoz , Jazar Reza N.

Identyfikatory

DOI

10.14669/AM.VOL91.ART1

• Języki publikacji: EN

Abstrakty

EN

The autodriver algorithm was introduced as a path-following algorithm for autonomous vehicles, which uses road geometry data and planar vehicle dynamics. In this paper, the autodriver algorithm is improved according to practical implications, and a more realistic vehicle model (roll mode) is used, which considers roll degree of freedom in addition to a planar motion. A Ghost-Car path-following approach is introduced to define the desired location of the car at every instance. Key steady-state characteristics of turning vehicles, namely the curvature, yaw rate, and side-slip responses, are discussed and used to construct a feed-forward component of a path-following controller based on the autodriver algorithm. Feedback control loops are designed and applied to minimise transient errors between the road and vehicle positions. Finally, simulations are performed to analyse the pathfollowing performance of the proposed scheme. The results show promising performance of the controller both in terms of error minimisation and passenger comfort.

Słowa kluczowe

EN

autonomous vehicle; path following control; road curvature; vehicle roll dynamics

• Wydawca: Wydawnictwo Naukowe Sieci Badawczej Łukasiewicz - Przemysłowego Instytutu Motoryzacji
• Czasopismo: Archiwum Motoryzacji
• Rocznik: 2021
• Tom: Vol. 91, nr 1
• Strony: 5--23
• Opis fizyczny: Bibliogr. 14 poz., rys.

Twórcy

autor

Nok To Ching

• VTC Hong Kong Design Institute, 3 King Ling Rd, Tiu Keng Wan, Hongkong, China

autor

Milani Sina

• Royal Melbourne Institute of Technology, 124 La Trobe St, Melbourne VIC 3000, Australia

autor

Marzbani Hormoz

• Royal Melbourne Institute of Technology, 124 La Trobe St, Melbourne VIC 3000, Australia

autor

Jazar Reza N.

• Royal Melbourne Institute of Technology, 124 La Trobe St, Melbourne VIC 3000, Australia

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