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Preview Control with Dynamic Constraints for Autonomous Vehicles.

Rui Li1, Qi Ouyang1, Yue Cui1

  • 1School of Automation, Chongqing University, Chongqing 400044, China.

Sensors (Basel, Switzerland)
|August 10, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new steering control method using preview theory and vehicle dynamics. It enhances adaptability and ensures stability for autonomous vehicles in challenging driving scenarios.

Keywords:
autonomous vehiclesdynamic constraintspreview control

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Area of Science:

  • Automotive Engineering
  • Control Systems Theory
  • Robotics

Background:

  • Vehicle dynamic constraints pose challenges for steering control systems.
  • Existing methods may lack adaptability to varying conditions like speed and road grip.

Purpose of the Study:

  • To develop a preview theory-based steering control approach that incorporates vehicle dynamic constraints.
  • To enhance controller adaptability and ensure system stability under diverse operating conditions.

Main Methods:

  • Utilized an error states system to predict and manage constrained variables.
  • Employed simulated annealing optimization for preview length adjustment.
  • Guaranteed closed-loop stability using Lyapunov theory.

Main Results:

  • Demonstrated favorable tracking accuracy in simulations.
  • Confirmed system stability, even under extreme conditions.
  • Validated performance using Carsim-Simulink.

Conclusions:

  • The proposed steering control approach effectively handles vehicle dynamic constraints.
  • The method shows significant adaptability and stability for autonomous driving systems.