Path Tracking Control with Constraint on Tire Slip Angles under Low-Friction Road Conditions
Source abstract
Abstract
This paper presents a method to design a path tracking controller with a constraint on tire slip angles under low-friction road conditions. On a low-friction road surface, a lateral tire force is easily saturated and decreases as a tire slip angle increases by a large steering angle. Under this situation, a path tracking controller cannot achieve its maximum performance. To cope with this problem, it is necessary to limit tire slip angles to a value where the maximum lateral tire force is achieved. The most commonly used controllers for path tracking, linear quadratic regulator (LQR) and model predictive control (MPC), are adopted as a controller design methodology. The control inputs of LQR and MPC are front and rear steering angles and control yaw moment, which have been widely used for path tracking. The constraint derived from tire slip angles is imposed on the steering angles of LQR and MPC. To fully verify the performance of the path tracking controller with the constraint on tire slip angles, a simulation is conducted on vehicle simulation software. From the simulation results, it is shown that the path tracking controller with the constraint on tire slip angles presented in this paper is quite effective for path tracking on low-friction road surface.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Vehicle Dynamics and Control Systems · Soil Mechanics and Vehicle Dynamics · Real-time simulation and control systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Intelligent Systems and Robotics, Chungbuk National University, Cheongju 28644, Chungbuk, Republic of Korea
Research Center for Electrical and Information Technology, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Republic of Korea
Funding
Seoul National University of Science and Technology
References (52)
Show source-provided references
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