1 Introduction
2 Lateral Control
2.1 Vehicle Model
2.2 Path Following Control
3 Steering Control to Deal with Road Cant
3.1 Feedforward Control for Road Cant
3.2 Estimate of Inflection Point
3.3 Self-Tuning of Controlled Variable of FF
4 Experiment
4.1 Experimental Truck
M [kg] | 13,045 |
---|---|
lf [m] | 3.513 |
lr [m] | 2.879 |
Kf [N/rad] | 319,000 |
Kr [N/rad] | 735,000 |
J [kg · m2] | 211,000 |
4.2 System Architecture
4.3 Control Gains
V(km/h) | K2 · 10−2 |
K
3
|
---|---|---|
0 | 13.75 | 2.98 |
30 | 8 | 2.89 |
40 | 2.75 | 2.42 |
50 | 0.9 | 2.38 |
60 | 0.4 | 2.04 |
70 | 0.35 | 1.96 |
80 | 0.28 | 1.79 |
4.4 Test Course
Distance [m] | R [m] | A | C [%] |
---|---|---|---|
0–499.5 | 4000 | 3 | |
499.5–799.5 | 1200 | 2.5 | |
799.5–859.5 | 1200 | 0 | |
859.5–909.5 | 1200 | −2.5 | |
909.5–2219.5 | 1200 | −3 | |
2219.5–2879.5 | 4000 | −3 |
4.5 Results of Lateral Control
4.6 Results of Estimate of Inflection Point
No | error[m] |
---|---|
1 | 4 |
2 | 3.5 |
3 | −3.25 |
4 | −1.25 |
5 | 4 |