Yu Fu

Bio: Yu Fu is an academic researcher. The author has contributed to research in topics: Trajectory & Automobile handling. The author has an hindex of 1, co-authored 1 publications receiving 3 citations.

Path tracking control for inverse problem of vehicle handling dynamics

Abstract: A path tracking controller based on active disturbance rejection control(ADRC) theory is presented in this paper to solve path tracking problem in inverse vehicle handling dynamics. The basic idea behind the work is to design an active disturbance rejection controller according to yaw rate and lateral displacement during a vehicle travels along a prescribed path to generate an expected trajectory which guarantees minimum clearance to the prescribed path. Aiming at this purpose, using preview follower theory, a linear extended state observer based on lateral displacement is designed. Considering yaw angle of vehicle, a non-linear combination function combined error of lateral displacement as well as error of yaw angle is designed according to monotone bounded hyperbolic of tangent function. Finally, a real vehicle test is executed to verify the rationality of the path tracking controller. At the same time, according to characteristics of pavement file in Carsim, a 3-D virtual pavement model is established and ride comfort simulation of random pavement is carried out in the software model. The results show that the minimum lateral position error of the generated path tracking trajectory can be good indicators of successful solving of the path tracking problem in inverse vehicle handling dynamics for ADRC. More precisely, there is higher calculation accuracy for the algorithm of the ADRC to solve the path tracking problem. The study can help drivers easily identify safe lane-keeping trajectories and area.

Adaptive trajectory tracking control strategy of intelligent vehicle

Abstract: The trajectory tracking control strategy for intelligent vehicle is proposed in this article. Considering the parameters perturbations and external disturbances of the vehicle system, based on the ...

Research on vehicle handling inverse dynamics based on optimal control while encountering emergency collision avoidance

Abstract: Vehicle driving safety is the urgent key problem to be solved of vehicle independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique for vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Firstly, the steering angle input of 3-DOF vehicle mode is established. The steering angle input imposed by driver is the control variable, and accurately tracking the expected path was the control object. The optimal control problem can be converted into a nonlinear programming problem while using the state variables conversion, which was solved by the sequential quadratic programming (SQP) algorithm. The results show that vehicle can well track the expected path in high speed.

Driverless simulation of path tracking based on PID control

Abstract: In order to realize the path tracking of autonomous vehicles, this paper first simplifies the complex structure of the vehicle into a two-degree-of-freedom kinematic and dynamic vehicle model. based on PID control, the vehicle path tracking controller is designed to calculate the lateral deviation between the expected path and the actual path, and outputs the front wheel rotation angle through the controller, so that the autonomous vehicle can travel well according to the expected path. The control system model is built in the MATLAB/Simulink, and the vehicle path tracking control system is simulated and verified jointly with the CarSim software platform. Simulation results show that the designed control strategy can ensure the path tracking performance of intelligent vehicles at different speeds, and has good tracking accuracy, real-time performance and vehicle driving stability.