Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram
To solve the problem of vehicle shaking and substantial lateral control deviation in the autonomous lateral control of autonomous-rail rapid tram and ensure its stable driving and safe lane changing on the road, this paper studies the road reconstruction process within the context of autonomous late...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2023-10-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.05.004 |
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| _version_ | 1849224933513625600 |
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| author | LIU Xiaocong ZHOU Sheng XIAO Lei PENG Jing |
| author_facet | LIU Xiaocong ZHOU Sheng XIAO Lei PENG Jing |
| author_sort | LIU Xiaocong |
| collection | DOAJ |
| description | To solve the problem of vehicle shaking and substantial lateral control deviation in the autonomous lateral control of autonomous-rail rapid tram and ensure its stable driving and safe lane changing on the road, this paper studies the road reconstruction process within the context of autonomous lateral control of autonomous-rail rapid tram. It proposes a road reconstruction method based on quadratic optimization, designs an autonomous tracking controller specifically tailored to autonomous-rail rapid tram, and establishes a dynamic model of autonomous-rail rapid trams for both simulation and verification on real vehicles. The experimental results show that during the transition phase of turning, the simulated path tracking deviation is ±4.8cm, while the real-vehicle experimental results show a deviation of ±5cm; under the high speed condition in straight road, the real-vehicle path tracking deviation is ± 0.2cm .These experimental findings underscore the satisfactory alignment between the theoretical vehicle model and the real vehicle. Furthermore, the autonomous driving process of the vehicle demonstrates the ability to effectively track the preset trajectory. |
| format | Article |
| id | doaj-art-2826ca56cbf34f6094ab51aac24e6ce2 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2023-10-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-2826ca56cbf34f6094ab51aac24e6ce22025-08-25T06:48:35ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272023-10-01192467224654Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid TramLIU XiaocongZHOU ShengXIAO LeiPENG JingTo solve the problem of vehicle shaking and substantial lateral control deviation in the autonomous lateral control of autonomous-rail rapid tram and ensure its stable driving and safe lane changing on the road, this paper studies the road reconstruction process within the context of autonomous lateral control of autonomous-rail rapid tram. It proposes a road reconstruction method based on quadratic optimization, designs an autonomous tracking controller specifically tailored to autonomous-rail rapid tram, and establishes a dynamic model of autonomous-rail rapid trams for both simulation and verification on real vehicles. The experimental results show that during the transition phase of turning, the simulated path tracking deviation is ±4.8cm, while the real-vehicle experimental results show a deviation of ±5cm; under the high speed condition in straight road, the real-vehicle path tracking deviation is ± 0.2cm .These experimental findings underscore the satisfactory alignment between the theoretical vehicle model and the real vehicle. Furthermore, the autonomous driving process of the vehicle demonstrates the ability to effectively track the preset trajectory.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.05.004autonomous-rail rapid tramautonomous drivinglateral controlquadratic optimization |
| spellingShingle | LIU Xiaocong ZHOU Sheng XIAO Lei PENG Jing Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram Kongzhi Yu Xinxi Jishu autonomous-rail rapid tram autonomous driving lateral control quadratic optimization |
| title | Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram |
| title_full | Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram |
| title_fullStr | Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram |
| title_full_unstemmed | Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram |
| title_short | Research on Lateral Control of Autonomous Driving for Autonomous-rail Rapid Tram |
| title_sort | research on lateral control of autonomous driving for autonomous rail rapid tram |
| topic | autonomous-rail rapid tram autonomous driving lateral control quadratic optimization |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.05.004 |
| work_keys_str_mv | AT liuxiaocong researchonlateralcontrolofautonomousdrivingforautonomousrailrapidtram AT zhousheng researchonlateralcontrolofautonomousdrivingforautonomousrailrapidtram AT xiaolei researchonlateralcontrolofautonomousdrivingforautonomousrailrapidtram AT pengjing researchonlateralcontrolofautonomousdrivingforautonomousrailrapidtram |