Citation

Cao H, Song X, Zhao S, Bao S, Huang Z. Veh. Syst. Dyn. 2017; 55(8): 1143-1188.

Copyright

(Copyright © 2017, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2017.1305114

PMID

unavailable

Abstract

Automated driving has received a broad of attentions from the academia and industry, since it is effective to greatly reduce the severity of potential traffic accidents and achieve the ultimate automobile safety and comfort. This paper presents an optimal model-based trajectory following architecture for highly automated vehicle in its driving tasks such as automated guidance or lane keeping, which includes a velocity-planning module, a steering controller and a velocity-tracking controller. The velocity-planning module considering the optimal time-consuming and passenger comforts simultaneously could generate a smooth velocity profile. The robust sliding mode control (SMC) steering controller with adaptive preview time strategy could not only track the target path well, but also avoid a big lateral acceleration occurred in its path-tracking progress due to a fuzzy-adaptive preview time mechanism introduced. In addition, an SMC controller with input-output linearisation method for velocity tracking is built and validated. Simulation results show this trajectory following architecture are effective and feasible for high automated driving vehicle, comparing with the Driver-in-the-Loop simulations performed by an experienced driver and novice driver, respectively. The simulation results demonstrate that the present trajectory following architecture could plan a satisfying longitudinal speed profile, track the target path well and safely when dealing with different road geometry structure, it ensures a good time efficiency and driving comfort simultaneously.

Language: en

Keywords

adaptive preview time; Driver-in-the-Loop; Multi-object velocity planning; robust driver path following model; sliding mode control; velocity tracking