Lane keeping automation at tire saturation

Mammar, Saïd; Enache, Nicoleta Minoiu; Glaser, Sébastien; Lusetti, Benoît; Neto, André Benine

doi:10.1109/acc.2010.5531450

Cited by 9 publications

(7 citation statements)

References 13 publications

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“…Owing to this, it is necessary to take the tire nonlinearity into account for path following control. To accurately describe the nonlinear characteristics, Mammar et al 5 established a T-S fuzzy model for the vehicle and deduced the tire lateral stiffness according to the tire sideslip angle. In the work by Scalzi et al 6 and Benine-Neto et al, 7 the piecewise affine (PWA) approximation model with proportional–integral (PI) control was used to track the ideal yaw rate, which obtained good results.…”

Section: Introductionmentioning

confidence: 99%

Dynamic path planning and path following control for autonomous vehicle based on the piecewise affine tire model

Chen

Yan

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper proposes a novel dynamic path planning and path following control method for collision avoidance, which works based on an improved piecewise affine tire model. The main contribution of this work is the design of a dynamic path planning method based on model predictive control, where it replans a maneuverable path to avoid moving obstacle in real time. A hierarchical control framework contains a high-level path replanning model predictive control and a low-level path following model predictive control. A collision avoidance cost function in the high hierarchies was designed to calculate the relative dynamic distance, which copes with the sudden obstacle. Moreover, the replanning path is the optimized output according to reference trajectory, obstacle, and handling stability. The control objective of the low hierarchies is to accurately track the replanning path, especially for the increased nonlinearity of large tire sideslip angle. For this reason, an improved piecewise affine tire model is designed and used for model predictive control to improve the path following performance and reduce calculated burden. The main improvement of the piecewise affine tire model is that the varied lateral stiffness coefficients adapt to the change of the tire sideslip angle in different tire regions. Based on the CarSim and Simulink platform, the dynamic path planning and path following simulations are designed to test the proposed method. The simulation results demonstrate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Dynamic path planning and path following control for autonomous vehicle based on the piecewise affine tire model

Chen

Yan

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Vehicle lateral control in saturated tire force conditions has been proposed for autonomous lane keeping system in [6] and in [11] using a parallel distributed control structure developed on a Takagi-Sugeno model.…”

Section: Introductionmentioning

confidence: 99%

Piecewise affine state feedback controller for lane departure avoidance

Benine-Neto¹,

Mammar

2011

2011 IEEE Intelligent Vehicles Symposium (IV)

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This paper presents the design and simulation tests of a lane keeping assistance system for passenger vehicles based on a piecewise affine state feedback controller. The design of the proposed lane keeping system takes into account the entire domain of lateral tire forces through piecewise affine approximations of the tire forces nonlinear behavior. The computation of the control law is casted as Bilinear Matrix Inequalities optimization procedure which is solved using the V-K-method to find a piecewise quadratic Lyapunov function and the state feedback gain. Simulations show the improved performance of the controller on degraded road adhesion conditions.

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“…In [19], [14] and [8] the authors explore the use of fuzzy logic in the controller design. The work [4] proposes a controller for typical highway conditions and the control problem is implemented by solving a SISO disturbance attenuation problem, formulated in the H ∞/µ framework in the presence of uncertain parameters.…”

Section: Introductionmentioning

confidence: 99%

Dynamic controller for lane keeping and obstacle avoidance assistance system

Benine-Neto

Scalzi

Mammar

et al. 2010

13th International IEEE Conference on Intelligent Transportation Systems

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This paper presents the design and simulation tests of a steering assistance for passenger vehicles based on a dynamic state feedback controller. Its main purpose is to avoid unintended lane departure and collisions. The design of the proposed lane keeping system takes into account the road curvature, considered as an exogenous input, into its internal model. The computation of the control law has been achieved by linking Lyapunov theory of stability to Bilinear Matrix Inequalities which considers bounds in the control input and minimises the reachable set of the vehicle after activation. This control strategy ensures convergence of the lateral offset to zero, even in curvy roads. Simulations show the performance of the controller and an extended application for collision avoidance.

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Lane keeping automation at tire saturation

Cited by 9 publications

References 13 publications

Dynamic path planning and path following control for autonomous vehicle based on the piecewise affine tire model

Dynamic path planning and path following control for autonomous vehicle based on the piecewise affine tire model

Piecewise affine state feedback controller for lane departure avoidance

Dynamic controller for lane keeping and obstacle avoidance assistance system

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