Robust PID Steering Control in Parameter Space for Highly Automated Driving

Abstract

This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of this vehicle. This paper is on automated steering control and concentrates on the lateral direction of motion. The linear model is used to design a PID steering controller in parameter space that satisfies D-stability. The PID steering controller that is designed is used in a simulation study to illustrate the effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and discussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized sedan.

Otonom Taşıtlar için Hıza Bağlı Kazanç Uyarlamalı LQI Tabanlı Yol Takip Kontrol Sistemi Tasarımı

“…Bu bölümde kontrol sistemi tasarımında kullanılan doğrusal otonom taşıt yol takip modeli anlatılmıştır. Otonom taşıt yol takip modeli, yanal taşıt dinamiği kontrolünde sıklıkla kullanılan tek izli taşıt (bisiklet) modelinin referans yolun takip edilmesinde önem kazanan savrulma açısı hatasını ve yoldan yana sapma miktarını içerecek şekilde genişletilmesiyle elde edilebilir [3,4,7,8]. Şekil 1'de gösterilen yol takip problemi için otonom taşıt yol takip modeli durum uzay formunda alttaki gibi ifade edilebilir:…”

“…Otonom taşıt yol takip modeli[8] Denklem (1)'deki durum uzay modeli matrisleri alttaki gibi tanımlanabilir[3,4,7,8]:…”

“…Şekil 3'te doğrusal olmayan otonom taşıt modelinin temel blokları ve sinyal akışı görülmektedir. Doğrusal olmayan otonom taşıt modeli[7,8] yayınlarındaki modellerle benzer şekilde oluşturulmuştur, ayrıca otomatik vites değişimi için tork konvertörü modeli eklenmiştir. Transmisyon ve Fren Sistemleri bloğunda motor haritası ve denklemini içeren motor modeli, tork konvertörlü transmisyon modeli, taşıt hızına göre değişen otomatik vites algoritması ve fren torku hesaplama blokları bulunmaktadır.…”

Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

“…The parameter space approach is computationally fast, has the advantage of obtaining solution regions rather than one set of controller gains and can easily handle time delays but lacks from the need to pre-specify the controller structure and being able to handle only two parameters at a time [3,5]. Parameter space robust control has recently been used successfully in a large number of applications ranging from yaw stability control and steering control to control of actuation in atomic force microscopy [6][7][8][9][10]. Several researchers have applied the parameter space approach to continuous time PID controllers for which the abovementioned weaknesses of the parameter space approach are overcome as the controller structure is fixed and as there are only three controller parameters to be tuned, i.e.…”

An Improved Kinematic Model Predictive Control for High-Speed Path Tracking of Autonomous Vehicles

“…Early tracking controllers are mostly developed based on geometric vehicle model and feedback control theory due to its simplicity and stability, namely, the deviation inputs of the feedback controller are obtained by the geometrical relationship between vehicle and road. For instance, in the studies [3]- [5], different proportional-integral-derivative (PID) control architectures are proposed to follow the given path. Pure pursuit method, as a standard benchmark, has been widely used in several DARPA Challenge vehicles [6].…”