Lateral Control of a Commercial Vehicle Using Feedback Augmented Disturbance Observer
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- 形態
- 価格
- 一般価格(税込)：￥6,600 会員価格(税込)：￥5,280
- 文献・情報種別
- SAE Paper
No.2022-01-0093
- 掲載ページ
- 1-10(Total 10 p)
- 発行年月
- 2022年 3月
- 出版社
- SAE International
- 言語
- 英語
- イベント
- WCX SAE World Congress Experience 2022
書誌事項
| 著者（英） | 1) Seunghyun Kim, 2) Jungwan Park, 3) Untae Baek, 4) Janggeol Nam, 5) Donghyuk Kim |
|---|---|
| 勤務先（英） | 1) Hyundai Motor Company, 2) Hyundai Motor Company, 3) Hyundai Motor Company, 4) Hyundai Motor Company, 5) Hyundai Motor Company |
| 抄録（英） | In the path following problem, a commercial vehicle has a delay of a hydraulic steering actuator and slow steering response accordingly. In addition, there are disturbances due to the harsh driving conditions of commercial vehicles. These disturbances may include uncertainties about actuator dynamic delay, modeling error and steering angle sensor offset. Designing a lateral controller with good performance that can overcome this problem is the key to successfully carrying out autonomous driving of commercial vehicles. Usually, it is difficult to consider disturbances with uncertainties in the geometric based control methods. Therefore, this paper proposed a lateral controller using feedback augmented disturbance observer for the commercial vehicle. First, a dynamics was modeled which can describe delay of the hydraulic actuator of the commercial vehicle. After that, a lateral controller was designed based on this dynamics model. The designed controller consists of three types of controllers such as feedforward control, curvature feedback control and disturbance observer. The feedforward controller has a form of conventional Pure Pursuit with additional differentiator controller. It has a role of lead compensator for the actuator delay. The feedback controller is designed to compensate turning radius error of the vehicle when the vehicle does not behave according to the kinematic model predicted. The disturbance observer has a role to compensate the steering wheel angle disturbance and modeling errors. The autonomous commercial vehicle experiments were conducted to evaluate proposed controller. The results confirmed that path following performance is much more improved when the lateral controller is designed considering the characteristics of commercial vehicles. 翻訳 |
