Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque
Abstract This paper investigates the impact of tyre dynamics on autonomous vehicle dynamic control. The commonly used 2 degrees of freedom bicycle model and a detailed vehicle model considering tyre dynamics are built, respectively, to describe the vehicle dynamics. The two models are firstly compar...
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| Format: | Article |
| Language: | English |
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Wiley
2023-08-01
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| Series: | IET Intelligent Transport Systems |
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| Online Access: | https://doi.org/10.1049/itr2.12356 |
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| _version_ | 1850062649550700544 |
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| author | Shilei Zhou Yang Tian Paul Walker Nong Zhang |
| author_facet | Shilei Zhou Yang Tian Paul Walker Nong Zhang |
| author_sort | Shilei Zhou |
| collection | DOAJ |
| description | Abstract This paper investigates the impact of tyre dynamics on autonomous vehicle dynamic control. The commonly used 2 degrees of freedom bicycle model and a detailed vehicle model considering tyre dynamics are built, respectively, to describe the vehicle dynamics. The two models are firstly compared with the response to front wheel steering input and differential motor torque input. The transient vehicle body vibrations are clearly demonstrated by the detailed model but overlooked by the bicycle model. The influence of tyre nonlinearity on path offset is also revealed. Then, the path following control strategy is designed based on the linear quadratic regulator control to compare the two models from the path following performance perspective. The double lane change simulation is conducted. The results show that at low vehicle speed, the path following errors of two models are very close, which proves the rationality of using the bicycle model to represent the vehicle dynamics in mild and moderate driving conditions. However, when the path following is conducted with high vehicle speed, the required lateral tyre force is large, so the tyres work with large slip angles and the tyre nonlinearity generates significant deviation on the path following errors between the two models. |
| format | Article |
| id | doaj-art-6b4983b722fa443284c7b8241a0d2006 |
| institution | DOAJ |
| issn | 1751-956X 1751-9578 |
| language | English |
| publishDate | 2023-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj-art-6b4983b722fa443284c7b8241a0d20062025-08-20T02:49:52ZengWileyIET Intelligent Transport Systems1751-956X1751-95782023-08-011781629164810.1049/itr2.12356Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torqueShilei Zhou0Yang Tian1Paul Walker2Nong Zhang3School of Mechanical Engineering Yanshan University Qinhuangdao ChinaSchool of Mechanical Engineering Yanshan University Qinhuangdao ChinaFaculty of Engineering and Information Technology University of Technology Sydney Sydney AustraliaFaculty of Engineering and Information Technology University of Technology Sydney Sydney AustraliaAbstract This paper investigates the impact of tyre dynamics on autonomous vehicle dynamic control. The commonly used 2 degrees of freedom bicycle model and a detailed vehicle model considering tyre dynamics are built, respectively, to describe the vehicle dynamics. The two models are firstly compared with the response to front wheel steering input and differential motor torque input. The transient vehicle body vibrations are clearly demonstrated by the detailed model but overlooked by the bicycle model. The influence of tyre nonlinearity on path offset is also revealed. Then, the path following control strategy is designed based on the linear quadratic regulator control to compare the two models from the path following performance perspective. The double lane change simulation is conducted. The results show that at low vehicle speed, the path following errors of two models are very close, which proves the rationality of using the bicycle model to represent the vehicle dynamics in mild and moderate driving conditions. However, when the path following is conducted with high vehicle speed, the required lateral tyre force is large, so the tyres work with large slip angles and the tyre nonlinearity generates significant deviation on the path following errors between the two models.https://doi.org/10.1049/itr2.12356autonomous vehicledifferential motor torque controlfront wheel steering controlpath following controltyre dynamics |
| spellingShingle | Shilei Zhou Yang Tian Paul Walker Nong Zhang Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque IET Intelligent Transport Systems autonomous vehicle differential motor torque control front wheel steering control path following control tyre dynamics |
| title | Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque |
| title_full | Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque |
| title_fullStr | Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque |
| title_full_unstemmed | Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque |
| title_short | Impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque |
| title_sort | impact of the tyre dynamics on autonomous vehicle path following control with front wheel steering and differential motor torque |
| topic | autonomous vehicle differential motor torque control front wheel steering control path following control tyre dynamics |
| url | https://doi.org/10.1049/itr2.12356 |
| work_keys_str_mv | AT shileizhou impactofthetyredynamicsonautonomousvehiclepathfollowingcontrolwithfrontwheelsteeringanddifferentialmotortorque AT yangtian impactofthetyredynamicsonautonomousvehiclepathfollowingcontrolwithfrontwheelsteeringanddifferentialmotortorque AT paulwalker impactofthetyredynamicsonautonomousvehiclepathfollowingcontrolwithfrontwheelsteeringanddifferentialmotortorque AT nongzhang impactofthetyredynamicsonautonomousvehiclepathfollowingcontrolwithfrontwheelsteeringanddifferentialmotortorque |