Journal of South China University of Technology (Natural Science Edition) ›› 2018, Vol. 46 ›› Issue (3): 78-85.doi: 10.3969/j.issn.1000-565X.2018.03.012

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Design for the Steering Controller of Autonomous
Vehicles at the Limits of Handling
 

 SUN Chuanyang ZHANG Xin XI Lihe CHEN Hongwei    

  1.  Beijing Key Laboratory of Powertrain for New Energy Vehicle，Beijing Jiaotong University，Beijing 100044，China
  • Received:2017-07-20 Revised:2017-10-31 Online:2018-03-25 Published:2018-03-01
  • Contact: 张欣(1959-)，女，博士，教授，主要从事新能源汽车、智能驾驶研究 E-mail:zhangxin@bjtu.edu.cn
  • About author:孙传扬(1992-)，男，博士生，主要从事智能驾驶、汽车动力学研究
  • Supported by:
     Supported by the National Key Ｒesearch Development Program of China(2016YFB0101000) 

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Abstract: This paper presents a path tracking steering controller based on the model predictive control (MPC) that simultaneously minimizes lateral path tracking deviation while maintaining vehicle stability for autonomous vehicles at the limits of handling． To improve the tracking accuracy， the course direction deviation is chosen for referential state，and the steadystate sideslip is used to calculate the course direction deviation instead of using the realtime sideslip． By using the lateral force of front tire as the input of the controller directly，and linearizing the rear tire force by the affine approximation， the computational burden can be reduced． The simulation results on a CarSimSimulink demonstrate that the present controller can operate the vehicle stably at the limits of tire adhesion，and has a better performance in tracking in comparison with the traditional controller． 

Key words: autonomous vehicles, path tracking, steering controller, vehicle dynamics, model predictive control

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