Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.067868
L. Menhour, A. Charara, D. Lechner
This paper deals with the diagnosis of the critical driving situations. This work is divided into three parts: the first one presents two steering controllers using the sliding mode and the switched H∞ controllers, the second one describes an unknown input sliding mode observer, while the last one presents an approach to the diagnosis of critical driving situations. All existence conditions are established using the Lyapunov approach. Simulations are conducted to highlight the efficiency of the proposed approach using the experimental data recorded by an instrumented Peugeot 307 laboratory car. The diagnosis of the critical driving situations is achieved by the speed extrapolation concept using simultaneously a non–linear model, a steering control and road bank observer. The speed extrapolation concept is used in order to evaluate situations under high dynamic loads on a bend, using stability of the sideslip motion.
{"title":"Steering vehicle control and road bank angle estimation: application for diagnosis of vehicle limits in bend","authors":"L. Menhour, A. Charara, D. Lechner","doi":"10.1504/IJVAS.2014.067868","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.067868","url":null,"abstract":"This paper deals with the diagnosis of the critical driving situations. This work is divided into three parts: the first one presents two steering controllers using the sliding mode and the switched H∞ controllers, the second one describes an unknown input sliding mode observer, while the last one presents an approach to the diagnosis of critical driving situations. All existence conditions are established using the Lyapunov approach. Simulations are conducted to highlight the efficiency of the proposed approach using the experimental data recorded by an instrumented Peugeot 307 laboratory car. The diagnosis of the critical driving situations is achieved by the speed extrapolation concept using simultaneously a non–linear model, a steering control and road bank observer. The speed extrapolation concept is used in order to evaluate situations under high dynamic loads on a bend, using stability of the sideslip motion.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"334-366"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.067868","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.067867
Varun Jain, T. Weiskircher
The predictive nature and the constraint handling capability of Model Predictive Controllers (MPC) makes it an appropriate choice for the conceptualisation of autonomous and collision avoidance systems. Such systems aim to make the road driving potentially safer and more comfortable in the future. This research work motivates development of a hierarchical structure based on a MPC and vehicle dynamics control for path planning and collision avoidance scenarios up to the limits of vehicle handling. The proposed idea not only helps to overcome the main challenge concerned with real–time implementation of MPC, but also adds modularity to the structure, whereby the tasks of path planning and vehicle handling can be tackled independently. The control structure can easily be extended for collision avoidance and driver assistance functions with the human driver in the loop. Simulation results with ideal and high fidelity vehicle models indicate the effectiveness of MPC and show the effect of different parameters on the overall performance.
{"title":"Prediction–based hierarchical control framework for autonomous vehicles","authors":"Varun Jain, T. Weiskircher","doi":"10.1504/IJVAS.2014.067867","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.067867","url":null,"abstract":"The predictive nature and the constraint handling capability of Model Predictive Controllers (MPC) makes it an appropriate choice for the conceptualisation of autonomous and collision avoidance systems. Such systems aim to make the road driving potentially safer and more comfortable in the future. This research work motivates development of a hierarchical structure based on a MPC and vehicle dynamics control for path planning and collision avoidance scenarios up to the limits of vehicle handling. The proposed idea not only helps to overcome the main challenge concerned with real–time implementation of MPC, but also adds modularity to the structure, whereby the tasks of path planning and vehicle handling can be tackled independently. The control structure can easily be extended for collision avoidance and driver assistance functions with the human driver in the loop. Simulation results with ideal and high fidelity vehicle models indicate the effectiveness of MPC and show the effect of different parameters on the overall performance.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"307"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.067867","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.067869
Alexandre Constantin, Junghee Park, K. Iagnemma
In this paper we propose a novel approach to the threat assessment problem for Advanced Driver Assistance System (ADAS) and autonomous navigation decision making support. This threat assessment is based on estimation of the control margin afforded to a vehicle and is performed in a multi–threat framework. Given sensor information available about the surrounding environment, an algorithm first identifies corridors of travel through which the vehicle can safely navigate. The second stage then assesses the threat posed to the vehicle in each identified corridor via a metric associated with available control margin. For this purpose, the corridors are approximated by sets of trajectories generated from a lattice sampled in the vehicle's input space. The level of threat can then serve to influence autonomous navigation as an input to a decision–making layer. It also potentially allows a semi–autonomous control system to honour driver intent while ensuring safe and robust navigation in hazardous events. The benefit of such an approach is compared to common threat metrics in canonical scenarios. The method is also applied to the multi–lane road environment of highway navigation by post processing human driving data gathered from a simulator.
{"title":"A margin–based approach to vehicle threat assessment","authors":"Alexandre Constantin, Junghee Park, K. Iagnemma","doi":"10.1504/IJVAS.2014.067869","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.067869","url":null,"abstract":"In this paper we propose a novel approach to the threat assessment problem for Advanced Driver Assistance System (ADAS) and autonomous navigation decision making support. This threat assessment is based on estimation of the control margin afforded to a vehicle and is performed in a multi–threat framework. Given sensor information available about the surrounding environment, an algorithm first identifies corridors of travel through which the vehicle can safely navigate. The second stage then assesses the threat posed to the vehicle in each identified corridor via a metric associated with available control margin. For this purpose, the corridors are approximated by sets of trajectories generated from a lattice sampled in the vehicle's input space. The level of threat can then serve to influence autonomous navigation as an input to a decision–making layer. It also potentially allows a semi–autonomous control system to honour driver intent while ensuring safe and robust navigation in hazardous events. The benefit of such an approach is compared to common threat metrics in canonical scenarios. The method is also applied to the multi–lane road environment of highway navigation by post processing human driving data gathered from a simulator.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"384"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.067869","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.057863
A. Odhams, D. Cole
The paper is concerned with the identification of theoretical preview steering controllers using data obtained from five test subjects in a fixed-base driving simulator. An understanding of human steering control behaviour is relevant to the design of autonomous and semi-autonomous vehicle controls. The driving task involved steering a linear vehicle along a randomly curving path. The theoretical steering controllers identified from the data were based on optimal linear preview control. A direct-identification method was used, and the steering controllers were identified so that the predicted steering angle matched as closely as possible the measured steering angle of the test subjects. It was found that identification of the driver’s time delay and noise is necessary to avoid bias in identification of the controller parameters. Most subjects’ steering behaviour was predicted well by a theoretical controller based on the lateral/yaw dynamics of the vehicle. There was some evidence that an inexperienced driver’s steering action was better represented by a controller based on a simpler model of the vehicle dynamics, perhaps reflecting incomplete learning by the driver.
{"title":"Identification of the steering control behaviour of five test subjects following a randomly curving path in a driving simulator","authors":"A. Odhams, D. Cole","doi":"10.1504/IJVAS.2014.057863","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.057863","url":null,"abstract":"The paper is concerned with the identification of theoretical preview steering controllers using data obtained from five test subjects in a fixed-base driving simulator. An understanding of human steering control behaviour is relevant to the design of autonomous and semi-autonomous vehicle controls. The driving task involved steering a linear vehicle along a randomly curving path. The theoretical steering controllers identified from the data were based on optimal linear preview control. A direct-identification method was used, and the steering controllers were identified so that the predicted steering angle matched as closely as possible the measured steering angle of the test subjects. It was found that identification of the driver’s time delay and noise is necessary to avoid bias in identification of the controller parameters. Most subjects’ steering behaviour was predicted well by a theoretical controller based on the lateral/yaw dynamics of the vehicle. There was some evidence that an inexperienced driver’s steering action was better represented by a controller based on a simpler model of the vehicle dynamics, perhaps reflecting incomplete learning by the driver.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"44"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.057863","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.057852
D. Gruyer, A. Lambert, M. Perrollaz, D. Gingras
Localizing a vehicle consists in estimating its position state by merging data from proprioceptive sensors (inertial measurement unit, gyrometer, odometer, etc.) and exteroceptive sensors (GPS sensor). A well known solution in state estimation is provided by the Kalman filter. However, owing to the presence of nonlinearities, the Kalman estimator is applicable only through some recursive variants, among which are the Extended Kalman filter (EKF), the Unscented Kalman Filter (UKF) and the Divided Differences of first and second order (DD1 and DD2). We have compared these filters using the same experimental data. The results obtained aim to rank these approaches by their performances in terms of accuracy and consistency.
{"title":"Experimental comparison of Bayesian positioning methods based on multi-sensor data fusion","authors":"D. Gruyer, A. Lambert, M. Perrollaz, D. Gingras","doi":"10.1504/IJVAS.2014.057852","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.057852","url":null,"abstract":"Localizing a vehicle consists in estimating its position state by merging data from proprioceptive sensors (inertial measurement unit, gyrometer, odometer, etc.) and exteroceptive sensors (GPS sensor). A well known solution in state estimation is provided by the Kalman filter. However, owing to the presence of nonlinearities, the Kalman estimator is applicable only through some recursive variants, among which are the Extended Kalman filter (EKF), the Unscented Kalman Filter (UKF) and the Divided Differences of first and second order (DD1 and DD2). We have compared these filters using the same experimental data. The results obtained aim to rank these approaches by their performances in terms of accuracy and consistency.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"24"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.057852","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.067860
Hela Lajmi, A. Alimi
Nowadays, modern cars are equipped with computer–controlled features connected by various automotive special communication buses. To preserve consumers' trust in recent automotive electronics, the unsolved problem of system–level test, which goes far beyond testing lone components, should be remedied. In the future generation cars, several innovative applications could profit from the augmented bandwidth Ethernet can offer. In this paper, we present the design and implementation of innovative network analysis of the in–vehicle communication. Indeed, the system functions are accomplished on only one off–the–shelf and cost–effective computer (centralised processing), which permits online and offline analysis. Almost all current challenges, such as flexibility, performance (resource usage) and optimisation are taken into consideration. To validate the performance of our system, named 'CableFish', we perform several tests comparing it to other monitoring and analysis systems.
{"title":"Optimised packet processing architecture for Ethernet traffic monitoring and analysis in the automotive field","authors":"Hela Lajmi, A. Alimi","doi":"10.1504/IJVAS.2014.067860","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.067860","url":null,"abstract":"Nowadays, modern cars are equipped with computer–controlled features connected by various automotive special communication buses. To preserve consumers' trust in recent automotive electronics, the unsolved problem of system–level test, which goes far beyond testing lone components, should be remedied. In the future generation cars, several innovative applications could profit from the augmented bandwidth Ethernet can offer. In this paper, we present the design and implementation of innovative network analysis of the in–vehicle communication. Indeed, the system functions are accomplished on only one off–the–shelf and cost–effective computer (centralised processing), which permits online and offline analysis. Almost all current challenges, such as flexibility, performance (resource usage) and optimisation are taken into consideration. To validate the performance of our system, named 'CableFish', we perform several tests comparing it to other monitoring and analysis systems.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"367"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.067860","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.1504/IJVAS.2014.057838
R. Irani, R. Bauer, A. Warkentin
This paper investigates a dynamic pressure-sinkage relationship which can be used in a wheel-soil model to better capture periodic variations observed in sinkage, drawbar pull and normal force as a rigid wheel interacts with loose sandy soil. The dynamic wheel-soil model can be used for wheels with or without grousers. Several case studies are presented to demonstrate the usefulness and applicability of this dynamic pressure-sinkage relationship. Hill climbing experiments were carried out using a smooth-wheel micro rover with a fixed suspension to confirm operational regions of the dynamic pressure-sinkage relationship. Single wheel testbed experiments were carried out to determine how well the model can predict changes in the number and length of the grousers on the wheel. It was concluded that dynamic pressure-sinkage relationship can predict the observed oscillations in the sinkage, drawbar pull and normal force with a single tuning case as the slip ratio and the configuration of the wheel changes.
{"title":"Application of a dynamic pressure-sinkage relationship for lightweight mobile robots","authors":"R. Irani, R. Bauer, A. Warkentin","doi":"10.1504/IJVAS.2014.057838","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.057838","url":null,"abstract":"This paper investigates a dynamic pressure-sinkage relationship which can be used in a wheel-soil model to better capture periodic variations observed in sinkage, drawbar pull and normal force as a rigid wheel interacts with loose sandy soil. The dynamic wheel-soil model can be used for wheels with or without grousers. Several case studies are presented to demonstrate the usefulness and applicability of this dynamic pressure-sinkage relationship. Hill climbing experiments were carried out using a smooth-wheel micro rover with a fixed suspension to confirm operational regions of the dynamic pressure-sinkage relationship. Single wheel testbed experiments were carried out to determine how well the model can predict changes in the number and length of the grousers on the wheel. It was concluded that dynamic pressure-sinkage relationship can predict the observed oscillations in the sinkage, drawbar pull and normal force with a single tuning case as the slip ratio and the configuration of the wheel changes.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"1"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.057838","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-21DOI: 10.1504/IJVAS.2014.063021
Amir Sadrpour, Jionghua Jin, A. Galip Ulsoy
Unmanned Ground Vehicle (UGV) missions include situations where a UGV has to choose between alternative paths, and are often limited by the available on-board energy. Thus, we propose a dynamic energy-efficient path planning algorithm that integrates mission prior knowledge with real-time sensory information to identify the most energy-efficient path for mission completion. Our proposed approach predicts and updates the distribution of the energy requirement for alternative paths using recursive Bayesian estimation through two stages: (a) exploration – road segments can be explored to reduce their energy prediction uncertainty; (b) exploitation – the most reliable path is selected using the collected information in the exploration stage and then traversed. Our simulation results show that the proposed approach outperforms offline methods, as well as a method that relies on exploitation only to identify the most energy-efficient path.
{"title":"Real-time energy-efficient path planning for unmanned ground vehicles using mission prior knowledge","authors":"Amir Sadrpour, Jionghua Jin, A. Galip Ulsoy","doi":"10.1504/IJVAS.2014.063021","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.063021","url":null,"abstract":"Unmanned Ground Vehicle (UGV) missions include situations where a UGV has to choose between alternative paths, and are often limited by the available on-board energy. Thus, we propose a dynamic energy-efficient path planning algorithm that integrates mission prior knowledge with real-time sensory information to identify the most energy-efficient path for mission completion. Our proposed approach predicts and updates the distribution of the energy requirement for alternative paths using recursive Bayesian estimation through two stages: (a) exploration – road segments can be explored to reduce their energy prediction uncertainty; (b) exploitation – the most reliable path is selected using the collected information in the exploration stage and then traversed. Our simulation results show that the proposed approach outperforms offline methods, as well as a method that relies on exploitation only to identify the most energy-efficient path.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"221-246"},"PeriodicalIF":0.0,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.063021","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1504/IJVAS.2013.056651
B. Németh, P. Gáspár
The paper proposes the design of velocity based on road inclinations, speed limits, a preceding vehicle on the lane and traveling time. A new control method in which the longitudinal control incorporates the brake and traction forces is also proposed to achieve the required velocity. By choosing the velocity which is appropriate according to the road and traffic information, the number of unnecessary accelerations and brakings and their durations can be significantly reduced. In the design method the modelling and robust control of the Linear Parameter Varying (LPV) theory are exploited. The operation of the longitudinal controlled system and the influences of different designed parameters are analysed through vehicle simulations. Finally, the efficiency of the controlled system is demonstrated on a real transportation route.
{"title":"Design of vehicle cruise control using road inclinations","authors":"B. Németh, P. Gáspár","doi":"10.1504/IJVAS.2013.056651","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.056651","url":null,"abstract":"The paper proposes the design of velocity based on road inclinations, speed limits, a preceding vehicle on the lane and traveling time. A new control method in which the longitudinal control incorporates the brake and traction forces is also proposed to achieve the required velocity. By choosing the velocity which is appropriate according to the road and traffic information, the number of unnecessary accelerations and brakings and their durations can be significantly reduced. In the design method the modelling and robust control of the Linear Parameter Varying (LPV) theory are exploited. The operation of the longitudinal controlled system and the influences of different designed parameters are analysed through vehicle simulations. Finally, the efficiency of the controlled system is demonstrated on a real transportation route.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"313-333"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.056651","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820706","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1504/IJVAS.2013.056619
P. Hu, Jinghua Guo, Linhui Li, Rong-ben Wang
This paper describes the development of a robust longitudinal controller for autonomous ground vehicle with inherent unknown nonlinearities and parametric uncertainties. The longitudinal controller is designed using Sliding-Mode Control (SMC) strategy based on fuzzy logic, which works through switching between the throttle actuator and brake actuator according to a predetermined criterion. The proposed longitudinal controller not only eliminates the chattering phenomenon in the Sliding-Mode Control (SMC) but also copes with the system uncertainties and external disturbances. Additionally, the convergence of closed-loop longitudinal control system is proved by the Lyapunov stability theory. Finally, simulation and experimental results indicate the strong robustness and commendable tracking performance of proposed controller.
{"title":"A robust longitudinal sliding-mode controller design for autonomous ground vehicle based on fuzzy logic","authors":"P. Hu, Jinghua Guo, Linhui Li, Rong-ben Wang","doi":"10.1504/IJVAS.2013.056619","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.056619","url":null,"abstract":"This paper describes the development of a robust longitudinal controller for autonomous ground vehicle with inherent unknown nonlinearities and parametric uncertainties. The longitudinal controller is designed using Sliding-Mode Control (SMC) strategy based on fuzzy logic, which works through switching between the throttle actuator and brake actuator according to a predetermined criterion. The proposed longitudinal controller not only eliminates the chattering phenomenon in the Sliding-Mode Control (SMC) but also copes with the system uncertainties and external disturbances. Additionally, the convergence of closed-loop longitudinal control system is proved by the Lyapunov stability theory. Finally, simulation and experimental results indicate the strong robustness and commendable tracking performance of proposed controller.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"35 1","pages":"368"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.056619","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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