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Stability-Considered lane keeping control of Commercial Vehicles Based on Improved APF Algorithm

Chinese Journal of Mechanical Engineering 2024年第1期37卷 114-129页

作者： Bin Tang Zhengyi Yang Haobin Jiang Ziyan Lin Zhanxiang Xu Zitian Hu Automotive Engineering Research Institute Jiangsu UniversityZhenjiang 212013China

Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase and higher mass *** improve the performance mentioned above comprehensively,the control strategy based on improved artificial potential field(APF)algorithm is *** the paper,time to lane crossing(TLC)is introduced into the potential field function to enhance the accuracy of path tracking,meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field *** lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov *** addition,adaptive inertial weight particle swarm optimization algorithm(AIWPSO)is applied to optimize the gain of each potential field *** co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced ***,the proposed control strategy is verified by the HiL *** provides a beneficial reference for dynamics control of commercial vehicles and enriches the theoretical development and practical application of artificial potential field method in the field of intelligent driving.

关键词： lane keeping control Commercial vehicles Lateral stability Artificial potential field AIWPSO

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lane keeping control on Mecanum Wheeled Omnidirectional Vehicles Using Laser Scanner

Lane Keeping Control on Mecanum Wheeled Omnidirectional Vehi...

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第30届中国控制与决策会议

作者： CHEN Tianyuan XIE Ling HAN Yongqiang LUO Jianglong School of Automation Beijing Institute of Technology

In recent years, there is a strong demand for automated guided vehicles in many fields such as manufacturing or studying and a variety of omnidirectional vehicle systems has been developed for these purposes, which includes the Mecanum-wheel vehicles. In the meantime, identifying the environment by laser scanner has increasingly become an efficient solution for robotic recognition. In order to implement an intelligent vehicle for industrial environment, a lane keeping method for Mecanum wheeled Omni-directional vehicles is proposed in this paper. We first design a LQR controller for the omnidirectional vehicle motion control. After that, a laser scanner is used to sense the lane for the vehicle. In the aspect of algorithm, a set of waypoints is used to determine the heading direction of the vehicle when cornering and a PID controller is designed to keep the vehicle in the detected lane when it is passing a relatively straight lane. The simulation experiment shows that the omnidirectional platform tracking system has a good response by using PID control. Finally, experimental result shows that the real vehicle can track the desired trajectory rapidly and smoothly, and the vehicle meanwhile is constrained in the lane in the whole process.

关键词： laser scanner lane keeping control Mecanum wheel omnidirectional vehicle

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