[1] Wu Jianwei, Sun Beibei, Fu Qidi, et al. Calculation method for trajectory following controlfor autonomous vehicles [J]. Journal of Southeast University (English Edition), 2021, 37 (4): 356-364. [doi:10.3969/j.issn.1003-7985.2021.04.003]

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Calculation method for trajectory following controlfor autonomous vehicles()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

37

Issue:

2021 4

Page:

356-364

Research Field:

Traffic and Transportation Engineering

Publishing date:

2021-12-20

Info

Title:

Calculation method for trajectory following controlfor autonomous vehicles

Author(s):

Wu Jianwei¹;  2;  Sun Beibei¹;  Fu Qidi¹;  Liu Yanhao¹

¹School of Mechanical Engineering, Southeast University, Nanjing 211189, China
²School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004, China

Keywords:

trajectory following;  autonomous vehicle;  feedforward control;  linear quadratic regulator(LQR)

PACS:

U463.6

DOI:

10.3969/j.issn.1003-7985.2021.04.003

Abstract:

The current literature lacks uniform calculation methods for following trajectory control for autonomous vehicles, including the calculation of errors, determination of tracking points, and design of feedforward controllers. Hence, a complete calculation method is proposed to address this gap. First, a control equation in the form of an error is obtained according to the dynamic equation of the vehicle coordinate system and the trajectory following model. Secondly, the deviation of the vehicle state is obtained according to the current vehicle’s state and the following control model. Finally, a linear quadratic regulator(LQR)controller with feedforward control is designed according to the characteristics of the dynamic equation. With the proposed LQR, the simulation of computational time, anti-interference, and reliability analysis of the trajectory following control is performed by programming using MATLAB. The simulation outcomes are then compared with the experimental results from the literature. The comparison indicates that the proposed complete calculation method is effective, reliable, and capable of achieving real-time and anti-interference following control performance. The simulation results with or without feedforward control show that the steady-state error is eliminated and that good control performance is obtained by introducing feedforward control.

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Memo

Memo:

Biographies: Wu Jianwei(1989—), male, Ph. D. candidate; Sun Beibei(corresponding author), female, doctor, professor, bbSun@seu.edu.cn.
Foundation item: The National Key Research and Development Program of China(No. 2019YFB2006404), Guangxi Science and Technology Major Project(No. GUIKE AA18242036, No. GUIKE AA18242037).
Citation: Wu Jianwei, Sun Beibei, Fu Qidi, et al.Calculation method for trajectory following control for autonomous vehicles[J].Journal of Southeast University(English Edition), 2021, 37(4):356-364.DOI:10.3969/j.issn.1003-7985.2021.04.003.

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