Vehicular Lateral Tracking Control with Winding Road Disturbance Compensation
- Title
- Vehicular Lateral Tracking Control with Winding Road Disturbance Compensation
- Author
- 정정주
- Keywords
- Autonomous Driving; Lateral Control; Lane Keeping System; Curved Road; External Disturbance; Anti-windup; Unmatched Disturbance
- Issue Date
- 2020-07
- Publisher
- IFAC World Congress 2020
- Citation
- IFAC-PapersOnLine, v. 53, no. 2, page. 15699-15704
- Abstract
- In this paper, an innovative vehicular lateral tracking control scheme is proposed to compensate for a winding road disturbance (WRD) on a curved road. Using a dynamic lateral motion model with look-ahead distance, we propose a WRD compensator (WRDC) to sufficiently achieve satisfactory vehicular lateral tracking control performance on the curved road in the presence of WRD. The proposed tracking control scheme is designed by the WRDC gain from the dominant state for the lateral offset in the lane keeping control. By developing the WRDC, state-space reference is redesigned to compensate for tracking error. We showed that the proposed WRDC ensures that the projected tracking error converges to zero. To verify the usefulness of the tracking control, the WRDC applied to a linear quadratic regulator (LQR) controller was compared to the standard LQR, LQR with an integrator, and LQR with an anti-windup. We observed that the proposed WRDC is not only robust against road curvature variation but also outperforming the tracking performance of LQR with anti-windup.
- URI
- https://www.sciencedirect.com/science/article/pii/S2405896320333176?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/169374
- ISSN
- 2405-8963
- DOI
- 10.1016/j.ifacol.2020.12.2565
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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