TY - GEN
T1 - A Maximum Speed Planning and Control Method of Intelligent Vehicle
AU - Chu, Ang
AU - Yu, Kai
AU - Yang, Shuaicong
AU - Chen, Jiaqi
AU - Li, Daiwei
AU - Jia, Bobo
AU - Yang, Yi
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2024.
PY - 2024
Y1 - 2024
N2 - In order to enhance the safety performance of intelligent vehicles and better exploit their maximum performance, this study investigates trajectory planning and motion control of vehicles under extreme conditions where tire friction reaches saturation, drawing inspiration from the motion characteristics of racing cars. Based on the three-degree-of-freedom vehicle dynamics model, an optimal control-based approach for generating the fastest trajectory is devised, and the vehicle’s optimal trajectory is obtained by solving an interior-point optimization problem. To address the issue of low control accuracy during high-speed driving, a feedforward-feedback lateral controller and a longitudinal controller based on throttle-brake calibration tables are designed. Simulation verification is conducted using a combined CarSim and Matlab environment. Finally, through comparative experiments, the effectiveness of the proposed lateral and longitudinal controllers in high-speed environments is validated.
AB - In order to enhance the safety performance of intelligent vehicles and better exploit their maximum performance, this study investigates trajectory planning and motion control of vehicles under extreme conditions where tire friction reaches saturation, drawing inspiration from the motion characteristics of racing cars. Based on the three-degree-of-freedom vehicle dynamics model, an optimal control-based approach for generating the fastest trajectory is devised, and the vehicle’s optimal trajectory is obtained by solving an interior-point optimization problem. To address the issue of low control accuracy during high-speed driving, a feedforward-feedback lateral controller and a longitudinal controller based on throttle-brake calibration tables are designed. Simulation verification is conducted using a combined CarSim and Matlab environment. Finally, through comparative experiments, the effectiveness of the proposed lateral and longitudinal controllers in high-speed environments is validated.
KW - Extreme maneuvers
KW - Feedforward feedback control
KW - Intelligent vehicle
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85192893438&partnerID=8YFLogxK
U2 - 10.1007/978-981-97-1103-1_42
DO - 10.1007/978-981-97-1103-1_42
M3 - Conference contribution
AN - SCOPUS:85192893438
SN - 9789819711024
T3 - Lecture Notes in Electrical Engineering
SP - 468
EP - 477
BT - Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 7
A2 - Qu, Yi
A2 - Gu, Mancang
A2 - Niu, Yifeng
A2 - Fu, Wenxing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Y2 - 9 September 2023 through 11 September 2023
ER -