Lateral Tracking and Stability Control for Automated Vehicles
Liang, Wei
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Permalink
https://hdl.handle.net/2142/83899
Description
Title
Lateral Tracking and Stability Control for Automated Vehicles
Author(s)
Liang, Wei
Issue Date
2007
Doctoral Committee Chair(s)
Andrew Alleyne
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
Abstract
This thesis studies the lateral tracking and stability control problem of ground vehicle in the context of autonomous automated vehicle system. An autonomous vehicle platoon is composed of a human-driven lead vehicle and several automated following ones. A full set of vehicle operating states is analyzed and it is found that they can be covered by either a tracking controller or a stability control. Lateral tracking control design in normal driving condition and lateral stability control design in emergency situations are examined then. A cooperative control structure using feedforward information of the lead vehicle is implemented in tracking control design in the proposed Leader-Dependent Coordinate System. The tracking performance is much improved compared to classical pursuit algorithm by using this cooperative information and knowledge of road pattern in tracking scenarios. A Modified-LuGre type dynamic tire model is proposed and used in the design of direct yaw moment control. This thesis solves the problem of optimal usage of tire traction in the application of vehicle stability control by using the 2-D Modified LuGre tire model. Since the model captures 2-D tire friction force distribution dynamically, the derived yaw moment controller is coordinated with the existing steering control without over-demanding a longitudinal slip ratio that the tire can not provide. The designed yaw moment control is also adaptive to surface friction condition that can prevent tire from skidding due to over-command braking torque. To analyzed the stability control problem in a large region of state, a point-wise linearized model along vehicle state is derived by introducing a concept of generalized tire cornering stiffness. A three-layer time-optimal yaw moment control architecture is provided to stabilize the vehicle in the shortest time. The designed yaw moment controller provides the maximum stabilizing moment for individual axle so it can be used in stability control problems for both passenger vehicles and heavy duty vehicles.
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