3-D path planning system for autonomous vehicle considering the rollover and path length

Liu, Zhixian; Yuan, Xiaofang; Li, Zhe

doi:10.1016/j.jfranklin.2022.05.040

Cited by 2 publications

(1 citation statement)

References 25 publications

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“…2. Previously published research has shown that a vehicle's path planning performance can be improved using a variety of various control techniques [33][34][35][36][37][38]. In a real situation, the friction that happens on the holonomic vehicle is unpredictable or unbounded due to the variety of operating settings and terrain types.…”

Section: Problem Statementmentioning

confidence: 99%

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Adam

Irawan

2022

IJRCS

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The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.

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Section: Problem Statementmentioning

confidence: 99%

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Adam

Irawan

2022

IJRCS

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Lateral stability control of extreme lane change based on dynamic surface and backstepping methods

Yuan,

Ji,

Shen

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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When intelligent vehicles encounter sudden and dangerous conditions, they often take the lateral lane change measure of emergency steering to avoid the risk, which can easily cause the vehicles to become unstable. In this paper, firstly the quintic polynomial is adopted as the lane change trajectory, the extreme lane change trajectory boundary is derived based on the dangerous phenomenon that vehicles are prone to sideslip and rollover, and the relationship between the road adhesion coefficient, longitudinal speed and the extreme lane change time is fitted. Then, based on the backstepping method and the dynamic surface control, a multi-constraint controller for sideslip angle of centroid and yaw rate is designed to regulate the steering of the vehicle by outputting additional yaw moment. The final simulation results show that the controller can have a good constraint effect under the extreme lane change, which ensures the accuracy of trajectory tracking and driving stability.

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3-D path planning system for autonomous vehicle considering the rollover and path length

Cited by 2 publications

References 25 publications

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Lateral stability control of extreme lane change based on dynamic surface and backstepping methods

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