Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles

Chenhui Lin; Georgios Papaioannou; Efstathios Siampis; Efstathios Velenis

doi:10.1007/978-3-031-66968-2_32

Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles

Chenhui Lin^*, Georgios Papaioannou, Efstathios Siampis, Efstathios Velenis

^*Corresponding author for this work

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

Abstract

In this paper, a path-tracking controller is developed for an autonomous vehicle with All-Wheel-Steering (AWS) capability. Based on nonlinear model predictive control, the proposed controller is formulated in a way that allows the manipulation of vehicle’s attitude during path-tracking. With high-fidelity vehicle dynamics simulation, the controller is examined at various velocities up to the limit handling condition. Comparison is carried out in the aspects of path-tracking, ride comfort and motion sickness, between the implementation with a constant yaw angle reference (referred to as crab steering) and the nominal steering behaviour for negotiating the same path. The ride comfort metric suggested by ISO-2631 is used to capture the benefits of the crab steering approach against the nominal case, and the simulation results reveal that crab steering is able to enhance the ride comfort for AWS vehicles in double lane-change and slalom manoeuvres.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks III
Subtitle of host publication	Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles
Editors	Wei Huang, Mehdi Ahmadian
Publisher	Springer
Pages	325-335
Number of pages	11
ISBN (Electronic)	978-3-031-66968-2
ISBN (Print)	978-3-031-66967-5
DOIs	https://doi.org/10.1007/978-3-031-66968-2_32
Publication status	Published - 2024
Event	28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023 - Ottawa, Canada Duration: 21 Aug 2023 → 25 Aug 2023

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023
Country/Territory	Canada
City	Ottawa
Period	21/08/23 → 25/08/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

All-wheel steering
Autonomous vehicle
Path-tracking
Ride comfort

Access to Document

10.1007/978-3-031-66968-2_32

Cite this

Lin, C., Papaioannou, G., Siampis, E., & Velenis, E. (2024). Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles. In W. Huang, & M. Ahmadian (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles (pp. 325-335). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-031-66968-2_32

Lin, Chenhui ; Papaioannou, Georgios ; Siampis, Efstathios et al. / Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles. Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. editor / Wei Huang ; Mehdi Ahmadian. Springer, 2024. pp. 325-335 (Lecture Notes in Mechanical Engineering).

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title = "Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles",

abstract = "In this paper, a path-tracking controller is developed for an autonomous vehicle with All-Wheel-Steering (AWS) capability. Based on nonlinear model predictive control, the proposed controller is formulated in a way that allows the manipulation of vehicle{\textquoteright}s attitude during path-tracking. With high-fidelity vehicle dynamics simulation, the controller is examined at various velocities up to the limit handling condition. Comparison is carried out in the aspects of path-tracking, ride comfort and motion sickness, between the implementation with a constant yaw angle reference (referred to as crab steering) and the nominal steering behaviour for negotiating the same path. The ride comfort metric suggested by ISO-2631 is used to capture the benefits of the crab steering approach against the nominal case, and the simulation results reveal that crab steering is able to enhance the ride comfort for AWS vehicles in double lane-change and slalom manoeuvres.",

keywords = "All-wheel steering, Autonomous vehicle, Path-tracking, Ride comfort",

author = "Chenhui Lin and Georgios Papaioannou and Efstathios Siampis and Efstathios Velenis",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023 ; Conference date: 21-08-2023 Through 25-08-2023",

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Lin, C, Papaioannou, G, Siampis, E & Velenis, E 2024, Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles. in W Huang & M Ahmadian (eds), Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. Lecture Notes in Mechanical Engineering, Springer, pp. 325-335, 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Ottawa, Canada, 21/08/23. https://doi.org/10.1007/978-3-031-66968-2_32

Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles. / Lin, Chenhui; Papaioannou, Georgios; Siampis, Efstathios et al.
Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. ed. / Wei Huang; Mehdi Ahmadian. Springer, 2024. p. 325-335 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Siampis, Efstathios

AU - Velenis, Efstathios

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2024

Y1 - 2024

N2 - In this paper, a path-tracking controller is developed for an autonomous vehicle with All-Wheel-Steering (AWS) capability. Based on nonlinear model predictive control, the proposed controller is formulated in a way that allows the manipulation of vehicle’s attitude during path-tracking. With high-fidelity vehicle dynamics simulation, the controller is examined at various velocities up to the limit handling condition. Comparison is carried out in the aspects of path-tracking, ride comfort and motion sickness, between the implementation with a constant yaw angle reference (referred to as crab steering) and the nominal steering behaviour for negotiating the same path. The ride comfort metric suggested by ISO-2631 is used to capture the benefits of the crab steering approach against the nominal case, and the simulation results reveal that crab steering is able to enhance the ride comfort for AWS vehicles in double lane-change and slalom manoeuvres.

AB - In this paper, a path-tracking controller is developed for an autonomous vehicle with All-Wheel-Steering (AWS) capability. Based on nonlinear model predictive control, the proposed controller is formulated in a way that allows the manipulation of vehicle’s attitude during path-tracking. With high-fidelity vehicle dynamics simulation, the controller is examined at various velocities up to the limit handling condition. Comparison is carried out in the aspects of path-tracking, ride comfort and motion sickness, between the implementation with a constant yaw angle reference (referred to as crab steering) and the nominal steering behaviour for negotiating the same path. The ride comfort metric suggested by ISO-2631 is used to capture the benefits of the crab steering approach against the nominal case, and the simulation results reveal that crab steering is able to enhance the ride comfort for AWS vehicles in double lane-change and slalom manoeuvres.

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Lin C, Papaioannou G, Siampis E, Velenis E. Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles. In Huang W, Ahmadian M, editors, Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. Springer. 2024. p. 325-335. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-3-031-66968-2_32

Path-Tracking Control Strategy for Enhanced Comfort in All-Wheel-Steering Autonomous Vehicles

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