Path-tracking control strategy for enhanced comfort in all-wheel-steering autonomous vehicles

Simple item page
dc.contributor.authorLin, Chenhui
dc.contributor.authorPapaioannou, Georgios
dc.contributor.authorSiampis, Efstathios
dc.contributor.authorVelenis, Efstathios
dc.date.accessioned2024-10-29T14:14:35Z
dc.date.available2024-10-29T14:14:35Z
dc.date.freetoread2024-10-29
dc.date.issued2024-10-13
dc.date.pubOnline2024-10-13
dc.description.abstractIn this paper, a path-tracking controller is developed for an autonomous vehicle with All-Wheel-Steering (AWS) capability. Based on nonlinear model predictive control, the proposed controller is formulated in a way that allows the manipulation of vehicle’s attitude during path-tracking. With high-fidelity vehicle dynamics simulation, the controller is examined at various velocities up to the limit handling condition. Comparison is carried out in the aspects of path-tracking, ride comfort and motion sickness, between the implementation with a constant yaw angle reference (referred to as crab steering) and the nominal steering behaviour for negotiating the same path. The ride comfort metric suggested by ISO-2631 is used to capture the benefits of the crab steering approach against the nominal case, and the simulation results reveal that crab steering is able to enhance the ride comfort for AWS vehicles in double lane-change and slalom manoeuvres.
dc.description.conferencename28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023
dc.description.sponsorshipInnovate UK
dc.description.sponsorshipThis work is supported by Innovate UK under the AID-CAV project (project reference 104277).
dc.format.extentpp. 325-335
dc.identifier.citationLin C, Papaioannou G, Siampis E, Velenis E. (2024) Path-tracking control strategy for enhanced comfort in all-wheel-steering autonomous vehicles. In: Advances in Dynamics of Vehicles on Roads and Tracks III: 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, 21-25 August 2023, Ottawa, Canada - Proceedings Volume 2: Road Vehicles
dc.identifier.eissn2195-4364
dc.identifier.elementsID555359
dc.identifier.isbn9783031669675
dc.identifier.issn2195-4356
dc.identifier.urihttps://doi.org/10.1007/978-3-031-66968-2_32
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23131
dc.identifier.volumeNo2
dc.language.isoen
dc.publisherSpringer
dc.rightsPublisher licence
dc.subject4007 Control Engineering, Mechatronics and Robotics
dc.subject40 Engineering
dc.subject4010 Engineering Practice and Education
dc.titlePath-tracking control strategy for enhanced comfort in all-wheel-steering autonomous vehicles
dc.typeConference paper
dcterms.coverageOttawa, Canada
dcterms.dateAccepted2023
dcterms.temporal.endDate25 Aug 2023
dcterms.temporal.startDate21 Aug 2023

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Path-tracking_control_strategy-2024.pdf
Size:
578.16 KB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Plain Text
Description:
Download

Collections

Staff publications (SATM)