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Communication Dans Un Congrès Année : 2021

Real-Time Look-Ahead Distance Optimization for Smooth and Robust Steering Control of Autonomous Vehicles

Résumé

This paper presents an optimization problem for the look-ahead distance used in lateral automated vehicle control. A relation is formulated to describe the sensitivity of the control input steering speedδ with respect to the variation of the look-ahead distance L. The nonlinear relation is written as an LPV model using the grid-based approach. The aim is to design a controller which minimizes the steering speedδ by optimizing an additional look-ahead distance L d that is added to the nominal look-ahead distance. Such action generates a smooth/stable vehicle motion when subjected to high oscillations due to noises, large lateral errors, etc. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamic controller is designed based on Linear Matrix Inequalities (LMIs). The control synthesis is carried out using the grid-based approach combined with the H∞ control problem. Simulation results show the tracking performance and the smoothness of the steering input, when the vehicle is subjected to successive large lateral errors, which provides a comfortable riding.
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Dates et versions

hal-03301885 , version 1 (27-07-2021)

Identifiants

Citer

Hussam Atoui, V Milanés, Olivier Sename, John Jairo Martinez Molina. Real-Time Look-Ahead Distance Optimization for Smooth and Robust Steering Control of Autonomous Vehicles. MED 2021 - 29th Mediterranean Conference on Control and Automation, Jun 2021, Bari (virtual), Italy. ⟨10.1109/MED51440.2021.9480235⟩. ⟨hal-03301885⟩
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