A path-following driver/vehicle model with optimized lateral dynamic controller
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Transcript of A path-following driver/vehicle model with optimized lateral dynamic controller
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d
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y t y tST t
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max max ( )u u t
0 2 4 6 8 10-6
-4
-2
0
2
4
6
8
time(s)
sid
e s
lip
(deg
)
ADAMS
Simulation
0 2 4 6 8 10-6
-4
-2
0
2
4
6
time(s)
ay(m
/s2)
ADAMS
Simulation
0.2 0.5 5 2r s ss pI t t E M
0 2 4 6 8 100
0.2
0.4
0.6
0.8
1
1.2
1.4
Time(sec)
Am
plitu
de
Step response
PID-GA
PID
-25 -20 -15 -10 -5 0 5 -30
-20
-10
0
10
20
-20 -15 -10 -5 0 5 -25 -20 -15 -10 -5 0 5
10 15 20 25
Root Locus Root Lucas
Ima
gin
ary
Ax
is
Real Axis Real Axis
Ima
gin
ary
Ax
is
0 10 20 30 40 50 -1
0
1
2
3
Step Response
Am
pli
tud
e
Time (sec)
50 100 150 200
0
0.5
1
1.5
2
2.5
3
3.5
x(m)
y(m
)
Desired
Uncontrolled
PID
PID-GA
0 2 4 6 8 10-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
time(s)
late
ral d
evia
tio
n(m
)
PID-GA
PID
Ucr=32 PID-GA
PID
0 2 4 6 8 10
-6
-4
-2
0
2
4
6
time(s)
head
ing
err
or(
deg
)
PID-GA
PID
0 2 4 6 8 10-6
-4
-2
0
2
4
6
time(s)
sid
eslip
(deg
)
PID-GA
PID
Uncontrolled
0 2 4 6 8 10-10
-5
0
5
10
time(s)
ay(m
/s2)
PID-GA
PID
Uncontrolled
0 2 4 6 8 10-5
0
5
time(s)
ste
er(
deg
)
PID-GA
PID
0 2 4 6 8 10-1000
-500
0
500
1000
time(s)
Mz(N
.m)
PID-GA
PID
0 50 100 150 200 250
0
0.5
1
1.5
2
2.5
3
3.5
x(m)
y(m
)
L=5
L=15
L=30
0 2 4 6 8 10-0.04
-0.02
0
0.02
0.04
0.06
0.08
0.1
time(s)
late
ral d
evia
tio
n(m
)
L=5
L=20
L=40
0 2 4 6 8 10-0.5
0
0.5
1
1.5
time(s)
Vy(m
/s)
L=5
L=20
L=40
0 2 4 6 8 10-6
-4
-2
0
2
4
6
ste
er(
deg
)
time(s)
L=5
L=20
L=40
0 50 100 150 200 250
0
0.5
1
1.5
2
2.5
3
3.5
x(m)
y(m
)
Understeer
Neutral steer
Oversteer
Severe OS
0 2 4 6 8 10-0.02
0
0.02
0.04
0.06
0.08
0.1
time(s)
late
ral d
evia
tio
n(m
)
Understeer
Neutralsteer
Oversteer
Severe OS
0 2 4 6 8 10
0
0.5
1
time(s)
Vy(m
/s)
Understeer
Neutralsteer
Oversteer
Severe OS
0 2 4 6 8 10-10
-5
0
5
10
time(s)
ay(m
/s2)
Understeer
Neutralsteer
Oversteer
Severe OS
0 50 100 150 200 250
0
0.5
1
1.5
2
2.5
3
x(m)
y(m
)
M=1200Kg
M=1500Kg
M=1800Kg
0 2 4 6 8 10-0.02
0
0.02
0.04
0.06
0.08
time(s)
late
ral d
evia
tio
n(m
)
M=1200Kg
M=1500Kg
M=1800Kg
0 2 4 6 8 10-0.2
0
0.2
0.4
0.6
0.8
1
time(s)
Vy(m
/s)
M=1200Kg
M=1500Kg
M=1800Kg
0 2 4 6 8 10-4
-2
0
2
4
6
time(s)
ay(m
/s2)
M=1200Kg
M=1500Kg
M=1800Kg
