A model-tuned predictive sliding control approach for steering angle following of full self-driving vehicles

自动驾驶 控制理论(社会学) 模型预测控制 方向盘 计算机科学 控制(管理) 转向系统 汽车工程 工程类 人工智能
作者
Ziang Xu,Lin He,Chun-Rong Huang,Xinxin Zheng,Shuhua Li,Qin Shi
标识
DOI:10.1177/09544062241233921
摘要

Steer-by-wire is a key technology to realize full self-driving for intelligent vehicles, where this is a challenge for steering angle following accurately. Therefore, a hybrid control thinking is proposed to design a model-tuned predictive sliding control approach, which is utilized to realize angle following of the electric motor steer-by-wire system. Here, sliding mode control is used as a core algorithm to be fit for the dynamics characteristics of the steer-by-wire system. Model tuning control is proposed to update model parameters by a receding horizon method, which means that some posteriori knowledge of the control system is utilized to make the model more accurate. Model predictive control is used to optimize the sliding manifold parameters of sliding mode control, which means that some priori knowledge of the control system is used to make the control law much fitter. Then we discuss a series of studies on the steer-by-wire system model and the control algorithm that, collectively, develop an approach of how the hybrid control algorithm precisely makes the front wheel angles follow desired steering commands. The designed approach has been deployed into a steering control unit, and tested in a steering test vehicle to realize the angle following of the electric motor steer-by-wire system. Based on the experimental results and statistical analysis, it can be concluded that the hybrid control thinking is a good idea of how to fuse several algorithms into a control approach, and the model-tuned predictive sliding control approach is a good candidate for the steering angle following of full self-driving vehicles.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
小熊发布了新的文献求助10
刚刚
1秒前
Labubuz完成签到,获得积分10
1秒前
只鱼完成签到 ,获得积分10
2秒前
ding应助swh采纳,获得30
4秒前
lfchen发布了新的文献求助10
5秒前
5秒前
6秒前
77完成签到,获得积分20
7秒前
易吴鱼发布了新的文献求助10
7秒前
7秒前
温暖的沛凝完成签到 ,获得积分10
10秒前
无聊的人完成签到 ,获得积分10
11秒前
西瓜刀发布了新的文献求助10
12秒前
情怀应助大气早晨采纳,获得10
12秒前
大观天下发布了新的文献求助10
13秒前
13秒前
深情安青应助WheredUWannaGo采纳,获得30
13秒前
量子星尘发布了新的文献求助10
15秒前
15秒前
桥豆麻袋完成签到,获得积分10
16秒前
16秒前
16秒前
战神小新完成签到,获得积分10
18秒前
18秒前
洋溢发布了新的文献求助10
18秒前
20秒前
研友_LJGXgn完成签到,获得积分10
20秒前
欣喜谷槐完成签到,获得积分10
23秒前
hmgs41发布了新的文献求助10
23秒前
27秒前
28秒前
可爱满天完成签到,获得积分10
28秒前
followZ完成签到,获得积分10
29秒前
诚心的凛发布了新的文献求助10
30秒前
vixerunt完成签到,获得积分10
30秒前
happynewyear完成签到,获得积分20
30秒前
31秒前
科研通AI2S应助科研通管家采纳,获得10
33秒前
852应助科研通管家采纳,获得10
33秒前
高分求助中
【提示信息,请勿应助】关于scihub 10000
Les Mantodea de Guyane: Insecta, Polyneoptera [The Mantids of French Guiana] 3000
徐淮辽南地区新元古代叠层石及生物地层 3000
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
Global Eyelash Assessment scale (GEA) 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 550
Research on Disturbance Rejection Control Algorithm for Aerial Operation Robots 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4039054
求助须知:如何正确求助?哪些是违规求助? 3576775
关于积分的说明 11376414
捐赠科研通 3306507
什么是DOI,文献DOI怎么找? 1819465
邀请新用户注册赠送积分活动 892806
科研通“疑难数据库(出版商)”最低求助积分说明 815115