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Erschienen in:
Improved Theoretical and Numerical Approaches for Solving Linear and Nonlinear Dynamic Systems Kapitel lesen Erstes Kapitel lesen

2022 | OriginalPaper | Buchkapitel

12. Roll Model Control of Autonomous Vehicle

verfasst von : Catter Ching Nok To, Hormoz Marzbani, Reza N. Jazar

Erschienen in: Nonlinear Approaches in Engineering Application

Verlag: Springer International Publishing

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Abstract

The dynamic vehicle roll study requires incorporating ideas from both the physics and mathematics. Applying artificial intelligence (AI) driver algorithms in autonomously controlled vehicles enables them to determine and negotiate corners effectively. The relational concepts vary when comparing the value of vehicle turn angles and their combined active contribution in turning the vehicle automatically.
The planar mathematical theory model for autonomous vehicles was initially developed. This theory was developed for use with 4-wheel steering vehicles but also works for 2-wheel steering vehicles. This theory extends the roll model by using the parameters of the angular velocity of a vehicle; that is, roll φ, pitch θ, yaw ψ, roll rate p, pitch rate q and yaw rate r. However, a roll model that uses forward, lateral, yaw and roll velocities is more exact and effective compared to this planar model.
Autodriver algorithm was introduced as a path-following algorithm for autonomous vehicles which is using road geometry data and planar vehicle dynamics. An autonomous vehicle can follow a given road if it turns about its centre of curvature at a correct moving position equal to the radius of the curvature of the path. The autodriver algorithm is improved according to practical implications, while a more realistic vehicle model (roll mode) is used, which considers roll degree of freedom in addition to a planar motion. A ghost-car path-following approach is introduced to define the desired location of the car at every instance. Finally, simulations are performed to analyse the path-following performance of the proposed scheme. The results show promising performance of the controller both in terms of error minimisation and passenger comfort.

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Vorheriges Kapitel Influence of Lateral Asymmetry on Car’s Lateral Dynamics
Nächstes Kapitel Oil Leakage Analysis for an Active Anti-Roll Bar System of Heavy Vehicles
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Metadaten
Titel
Roll Model Control of Autonomous Vehicle
verfasst von
Catter Ching Nok To
Hormoz Marzbani
Reza N. Jazar
Copyright-Jahr
2022
Buch
Nonlinear Approaches in Engineering Application

Print ISBN: 978-3-030-82718-2

Electronic ISBN: 978-3-030-82719-9

Copyright-Jahr: 2022

DOI
https://doi.org/10.1007/978-3-030-82719-9_12

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