Advanced
search

To read this content please select one of the options below:

Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation

Zhizhong Guo (School of Mechanical and Automobile Engineering, Shanghai University of Engineering Science, Shanghai, China)
Fei Liu (School of Mechanical and Automobile Engineering, Shanghai University of Engineering Science, Shanghai, China) (School of Automotive Studies, Tongji University, Shanghai, China)
Yuze Shang (School of Mechanical and Automobile Engineering, Shanghai University of Engineering Science, Shanghai, China)
Zhe Li (School of Mechanical and Automobile Engineering, Shanghai University of Engineering Science, Shanghai, China)
Ping Qin (School of Mechanical and Automobile Engineering, Shanghai University of Engineering Science, Shanghai, China)

Engineering Computations

ISSN: 0264-4401

Article publication date: 31 October 2023

Issue publication date: 5 December 2023

87

Abstract

Purpose

This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle.

Design/methodology/approach

In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors’ model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors’ synergistic architecture.

Findings

The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety.

Originality/value

The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems.

Keywords

Acknowledgements

This work was supported by the Natural Science Foundation of Hebei Province of China(Grant No. E2016402066) and the High-Level Talent Project of Hebei Province of China: Integrated Research and Simulation Realization of Vehicle Ride Comfort and Handling Stability (Grant No. B2017003026).

Citation

Guo, Z., Liu, F., Shang, Y., Li, Z. and Qin, P. (2023), "Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation", Engineering Computations, Vol. 40 No. 9/10, pp. 2814-2840. https://doi.org/10.1108/EC-07-2023-0345

Publisher

:

Emerald Publishing Limited

Copyright © 2023, Emerald Publishing Limited

Related articles

Manage cookies

We’re listening — tell us what you think

Join us on our journey