A PATH-FOLLOWING DRIVER/VEHICLE MODEL WITH OPTIMIZED LATERAL DYNAMIC CONTROLLER

Abstract

THE REDUCTION IN THE TRAFFIC CONGESTION AND OVERALL NUMBER OF ACCIDENTS ESPE-CIALLY WITHIN THE LAST DECADE CAN BE ATTRIBUTED TO THE ENORMOUS PROGRESS IN AC-TIVE SAFETY REGARDING TO DRIVER REACTION. SO, VEHICLE PATH FOLLOWING CONTROL WITH THE PRESENCE OF DRIVER COMMANDS IS CONSIDERED AS ONE OF THE IMPORTANT ISSUES IN VEHICLE ACTIVE SAFETY SYSTEMS DEVELOPMENT AND MORE ACTUAL SIMULATION OF VEHICLE PATH TRACKING. IN THIS PAPER, WE PRESENT AN INTEGRATED DRIVER/DYC CON-TROLLER THAT IS REGULATING THE STEERING ANGLE AND YAW MOMENT, BY CONSIDERATION OF THE DRIVER PREVIEWED PATH. SO, THE DRIVER PREVIEWED DISTANCE, THE HEADING ERROR AND LATERAL DEVIATION BETWEEN THE VEHICLE AND DESIRED ROAD ARE USED AS INPUT. THEN, CONTROLLER APPLIED CORRECTIVE STEERING ANGLE AND DIRECT YAW MO-MENT TO ACHIEVE DESIRED PATH. IN ORDER TO GUIDE A CLOSED-LOOP DRIVER/VEHICLE AUTOMATICALLY, A NOVEL OPTIMAL PID CONTROLLER IS PROPOSED TO CONTROL THE VEHI-CLE PATH FALLOWING, AUTOMATICALLY. ALSO, INTELLIGENT OPTIMIZATION METHOD, GE-NETIC ALGORITHM, IS UTILIZED TO ADAPT PID CONTROLLER GAINS FOR VARIOUS SITUATIONS. PROPOSED INTEGRATED DRIVER/DYC CONTROLLER IS TESTED BY DRIVING A DOUBLE-LANE CHANGE AND DESIRED TRACKS. FINALLY, THE SENSITIVITY OF THE CONTROL SYSTEM HAS BEEN INVESTIGATED THROUGH THE CHANGES IN THE DRIVER MODEL AND VEHICLE PARA-METERS. SIMULATION RESULTS ILLUSTRATED THE DOMINATE EFFICIENCY OF CONTROLLER IN THE VEHICLE STABILIZATION AND PATH FOLLOWING.