TY - GEN
T1 - Optimal control of the automatic steering system
AU - Zhao, Xijun
AU - Chen, Huiyan
PY - 2011
Y1 - 2011
N2 - Optimal control-based automatic steering system regardless of steering actuator dynamics for autonomous ground vehicle might be unstable for real vehicle implementation. This paper analyzes such an unstable phenomenon and gives solution to the problem through selection of appropriate optimal control matrix. Firstly, a new kind of the vehicle-road lateral dynamic model with look-ahead action is established and the steering controller for path tracking is developed based on the optimal control theory with regardless of steering actuator dynamics. Then, combining with the steering actuator dynamics, the unstable phenomenon is introduced and analyzed for real vehicle implementation. A novel solution to overcome the unstable phenomenon is proposed. Simulation results show that the proposed automatic steering optimal controller is useful and achievable for real vehicle implementation.
AB - Optimal control-based automatic steering system regardless of steering actuator dynamics for autonomous ground vehicle might be unstable for real vehicle implementation. This paper analyzes such an unstable phenomenon and gives solution to the problem through selection of appropriate optimal control matrix. Firstly, a new kind of the vehicle-road lateral dynamic model with look-ahead action is established and the steering controller for path tracking is developed based on the optimal control theory with regardless of steering actuator dynamics. Then, combining with the steering actuator dynamics, the unstable phenomenon is introduced and analyzed for real vehicle implementation. A novel solution to overcome the unstable phenomenon is proposed. Simulation results show that the proposed automatic steering optimal controller is useful and achievable for real vehicle implementation.
KW - automatic steering
KW - optimal control
KW - steering actuator dynamics
UR - http://www.scopus.com/inward/record.url?scp=80052906162&partnerID=8YFLogxK
U2 - 10.1109/ICVES.2011.5983784
DO - 10.1109/ICVES.2011.5983784
M3 - Conference contribution
AN - SCOPUS:80052906162
SN - 9781457705762
T3 - Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011
SP - 39
EP - 43
BT - Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011
T2 - 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011
Y2 - 10 July 2011 through 12 July 2011
ER -
