{"title":"Ramp Start and Speed Control of Self-Driving Commercial Vehicles under Ramp and Vehicle Load Uncertainty","authors":"Dequan Zeng, Huafu Fang, Yinquan Yu, Yiming Hu, Peizhi Zhang, Wei Luo","doi":"10.3390/act13060201","DOIUrl":null,"url":null,"abstract":"In order to improve the performance of self-driving commercial vehicles for half-hill starting, a ramp control strategy based on the back-slip speed corresponding to the parking moment is proposed. Firstly, the longitudinal dynamics model of the vehicle is established, the force of the vehicle on the ramp is analyzed, and the rear slip speed of the vehicle is matched with the parking moment, and finally the target speed is tracked based on the sliding-mode controller, and in order to validate the validity of the method, two comparative algorithms of the pure PI controller and the proportional gain controller based on the back-sliding speed corresponding to the resting moment are designed for comparative experiments, and the data results show that the control strategy based on the resting moment corresponding to the backsliding speed of the sliding mode ramp start control strategy can stably complete the ramp start under different weights and different slopes, and greatly reduce the backsliding distance of the vehicle.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2000,"publicationDate":"2024-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Actuators","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/act13060201","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
In order to improve the performance of self-driving commercial vehicles for half-hill starting, a ramp control strategy based on the back-slip speed corresponding to the parking moment is proposed. Firstly, the longitudinal dynamics model of the vehicle is established, the force of the vehicle on the ramp is analyzed, and the rear slip speed of the vehicle is matched with the parking moment, and finally the target speed is tracked based on the sliding-mode controller, and in order to validate the validity of the method, two comparative algorithms of the pure PI controller and the proportional gain controller based on the back-sliding speed corresponding to the resting moment are designed for comparative experiments, and the data results show that the control strategy based on the resting moment corresponding to the backsliding speed of the sliding mode ramp start control strategy can stably complete the ramp start under different weights and different slopes, and greatly reduce the backsliding distance of the vehicle.
为了提高自动驾驶商用车在半坡起步时的性能,提出了一种基于停车力矩对应的后滑速度的坡道控制策略。首先建立了车辆的纵向动力学模型,分析了车辆在坡道上的受力情况,并将车辆的后滑速度与停车力矩相匹配,最后基于滑模控制器跟踪目标速度,以验证该方法的有效性、为了验证该方法的有效性,设计了纯 PI 控制器和基于静止力矩对应的后滑速度的比例增益控制器两种比较算法进行对比实验,数据结果表明,基于静止力矩对应的后滑速度的滑模坡道起步控制策略可以在不同重量和不同坡度下稳定完成坡道起步,并大大减少了车辆的后滑距离。
期刊介绍:
Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.