Abstract
A method based on optimal control theory is presented in this paper to solve path-tracking problems in inverse vehicle handling dynamics. The idea behind is to identify the optimal steering torque input along a prescribed path to generate an expected trajectory that guarantees minimum clearance. Based on this purpose, the path-tracking problem, treated as an optimal control problem, is first converted into a nonlinear programming problem by Gauss pseudospectral method (GPM) and is then solved with Sequential quadratic programming (SQP). Finally, a real vehicle test is executed to verify the rationality of the proposed model and methodology. Results show that the minimum lateral position error of the generated path-tracking trajectory can be a good solution for path-tracking problem in inverse vehicle handling dynamics for GPM. The algorithm has higher calculation accuracy compared with other methods to solve path-tracking problems. The study could help drivers identify safe lane-keeping trajectories and areas easily.
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Recommended by Associate Editor Deok Jin Lee
Yingjie Liu obtained his B.S. and M.S. at the Shandong University of Technology, China, in 2007 and 2010, respectively. He later received his Ph.D. degree in 2014 from Nanjing University of Aeronautics and Astronautics, China. He is currently a lecturer at School of Mechanical-Electronic and Vehicle Engineering, Weifang University, China. His current research interests include vehicle system dynamics and control theory on ground vehicles.
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Liu, Y., Jiang, J. Optimum path-tracking control for inverse problem of vehicle handling dynamics. J Mech Sci Technol 30, 3433–3440 (2016). https://doi.org/10.1007/s12206-016-0701-9
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DOI: https://doi.org/10.1007/s12206-016-0701-9