Intelligent Vehicle Path Tracking Control Method Based on Curvature Optimisation

Ye, Qing; Gao, Chaojun; Zhang, Yao; Sun, Zeyu; Wang, Ruochen; Chen, Long

doi:10.3390/s23104719

Cited by 3 publications

(1 citation statement)

References 25 publications

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“…Here, the authors examine the use case of experimentally collected GNSS observations within an international GNSS service network. A methodology for using IGS observations for GNSS positioning performance studies is outlined [14,15].…”

Section: Literature Reviewmentioning

confidence: 99%

Influence of Accelerometer Sensor Position for Measurement of Lateral Acceleration of Delivery Van for Cargo Securement

Jagelcak,

Kubanova

2023

Sensors

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The use of sensors in monitoring lateral accelerations in delivery van transport focuses on measuring lateral accelerations on routes with roundabouts and curves to increase road safety. Using microelectromechanical system (MEMS) sensors, it measures the lateral accelerations acting on the vehicle and the load being transported during the test drives to study vehicle dynamics of delivery van for cargo securing, which is essential to the decision of where accelerometer sensors should be placed when monitoring accelerations or performing cargo securing tests. Using an accelerometer and position tracking, accelerations can be detected when traversing curves and roundabouts at selected locations on the vehicle and load. Manual labeling of acceleration events has been used to identify different lateral acceleration events and regression analysis to determine the relationship between lateral accelerations at different sensor positions. The level of acceleration on the roof of the vehicle was found to be like that occurring on a lashed load with limited movements. If we compare the mean values of the lateral accelerations of the individual events between the sensors, the sensor on the side of the vehicle body at the height of the sensor on the load had approximately 5% lower mean values than the sensor on the roof. The sensor on the load measured approximately 5% higher mean values than the sensor on the roof. Hence, the mean lateral accelerations of the individual events for the sensor on the load are 10% higher than for the sensor at the same height on the vehicle body. The values of the mean lateral accelerations of the delivery van from the sensor on the roof of the vehicle are closer to the values of the accelerations of the sensor on the load than to the values of the sensor on the body of the vehicle at the same height.

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Section: Literature Reviewmentioning

confidence: 99%

Influence of Accelerometer Sensor Position for Measurement of Lateral Acceleration of Delivery Van for Cargo Securement

Jagelcak,

Kubanova

2023

Sensors

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Optimization design of unmanned mining truck path tracking controller based on road adhesion coefficient estimation

Zhang,

Ye,

Wan

et al. 2024

Meas. Sci. Technol.

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In response to the issues of inaccurate tracking precision caused by continuous turning and variable road adhesion coefficients on complex roads in mining areas for unmanned mining trucks, this paper adopts unscented Kalman filter (UKF) to estimate the road adhesion coefficient. Based on this, an adaptive preview feedforward linear quadratic regulator (LQR) control algorithm is designed using genetic algorithm, feedforward control, and linear quadratic optimal path tracking control methods. Firstly, a nine degree of freedom vehicle dynamics model and a two degree of freedom vehicle lateral dynamics model are established, and the Dugoff model to calculate tire forces is introduced; secondly, utilizing UKF to estimate the road adhesion coefficient, and leveraging active disturbance rejection control for rapid tracking of road curvature, an optimized design of the LQR controller is carried out. Then, the effectiveness of the designed controller was verified through Trucksim/Simulink joint simulation testing. Finally, the hardware in the loop test results showed that the designed controller had good tracking accuracy and strong adaptability in complex road and special working conditions in mining areas.

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Influence of Sensor Position for Measurement of Lateral Acceleration of Delivery Van

Jagelcak,

Kubanova

2023

Preprint

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The use of sensors in monitoring of lateral accelerations in delivery van transport focuses on measuring lateral accelerations on routes with roundabouts and curves to increase road safety. Using microelectromechanical system (MEMS) sensors, it measures the lateral accelerations acting on the vehicle and the load being transported during the test drives to study vehicle dynamics for cargo securing. Using an accelerometer and position tracking, accelerations can be detected when traversing curves and roundabouts at selected locations on the vehicle. The level of accelerations on the roof of the vehicle was found to be like those occurring on a lashed load with limited movements, where regression analysis can be used to determine the relationship between lateral accelerations at different sensor positions. If we compare the mean values of the lateral accelerations of the individual events between the sensors, the sensor on the side of the vehicle body at the height of the sensor on the load had approximately 5% lower mean values than the sensor on the roof. The sensor on the load measured approximately 5% higher mean values than the sensor on the roof. Hence, the mean lateral accelerations of the individual events for the sensor on the load are 10% higher than for the sensor at the same height on the vehicle body. From the above testing, we can say that the values of the mean lateral accelerations of the van from the sensor on the roof of the vehicle, are closer to the values of the accelerations of the sensor on the load than to the values of the sensor on the body of the vehicle at the same height.

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Intelligent Vehicle Path Tracking Control Method Based on Curvature Optimisation

Cited by 3 publications

References 25 publications

Influence of Accelerometer Sensor Position for Measurement of Lateral Acceleration of Delivery Van for Cargo Securement

Influence of Accelerometer Sensor Position for Measurement of Lateral Acceleration of Delivery Van for Cargo Securement

Optimization design of unmanned mining truck path tracking controller based on road adhesion coefficient estimation

Influence of Sensor Position for Measurement of Lateral Acceleration of Delivery Van

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