Path Tracking Control of High-speed 4WID-4WIS Autonomous Vehicle
RUAN Jiuhong1,2,3, LI Yibin2, YANG Fuguang1, RONG Xuewen2
1. Advanced Vehicle & Robot Institute, Shandong Jiaotong University, Jinan 250023, China;
2. Shandong University Center for Robotics, Jinan 250061, China;
3. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
Every wheel of the high-speed four-wheel-independent-drive & steering(4WID-4WIS) autonomous vehicle has its own independent suspension system,and can be driven,braked and steered independently.Firstly,the path tracking control problem of the autonomous vehicle is illustrated at geometry and kinematics levels,and combined with nonlinear Burckhardt tire model,the second-order dynamic models for autonomous vehicle's path tracking are built.Secondly,the path tracking coordinate control architecture of the autonomous vehicle is proposed.The decoupled controllers of the three kinematic channels,the longitudinal velocity,the lateral displacement and the yaw angle motion of the path tracking,are designed based on the active disturbance rejection control(ADRC) method.And the tire model based control allocation solver is subsequently designed by nonlinear programming.The parameter-error-induced control disturbance is then discussed.Lastly, the double-lane-changing path tracking simulations with big acceleration are done.The results show that the 4WID-4WIS autonomous vehicle can track the path rapidly and accurately,and the validity of the proposed path tracking control method is proved.
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