Speed Dependent Gain Scheduled LQI based Path Following Control System Design for Automated Vehicles

Automated path following is one of the major problem in automated vehicle control. Automated vehicle should follow the desired path to minimize the lateral deviation from the path while traveling at the desired speed. In this paper, LQI control method is proposed to solve this problem. LQI based control system is designed based on speed dependent gain scheduling taking into account the effect of vehicle speed on vehicle dynamic behaviour. The proposed method is tested in a simulation environment with a high degree-of-freedom nonlinear vehicle model including steer-by-wire steering actuator model. The performance of the proposed control system is compared with PID and LQR based control systems in two different simulation scenarios. Statistical error values are used for numerical comparison of different control methods. Simulation results and error values show that speed dependent gain scheduled LQI control system equipped automated vehicle follows the desired path with less error at constant and variable vehicle speed

Taşıt savrulma dinamiği kontrol sistemlerinde zaman gecikmesi etkisinin zaman gecikmesi gözleyicisi kullanılarak telafi edilmesi

Zaman gecikmesi kontrol sistemleri tasarımında dikkate alınması gereken sistemin performansını azaltan ve en kötü durumda da sistemi kararsız yapan etkenlerden birisidir. Zaman gecikmesi telafisi için literatürde pek çok yöntem önerilmiştir. Bunlardan en yaygın olarak kullanılanı Smith tahmincisidir. Smith tahmincisi kolaylıkla uygulanabilse de tahmincinin kullandığı zaman gecikmesi modeli ile sistemdeki gerçek zaman gecikmesi farklılaştıkça gecikme telafisi performansı düşmektedir. Bu metodun alternatifi olarak zaman gecikmesi gözleyicisi önerilmiş ve literatürde daha önce bilateral teleoperasyon sistemlerine, robotik manipülatörlere ve iletişim ağı tabanlı yürüyüş şekli rehabilitasyon cihazlarına uygulanmıştır. Bu çalışmada ise zaman gecikmesi gözleyicisinin taşıt savrulma dinamiği kontrolüne uygulanması ele alınmıştır. Zaman gecikmesi gözleyicisinin performansı zamanla değişen gecikmeler için çeşitli simülasyon çalışmalarıyla test edilmiş, ayrıca sonuçlar Smith tahmincisiyle karşılaştırılmıştır

Cooperative adaptive cruise control implementation of team mekar at the grand cooperative driving challenge

Turan, Murat Can (Arel Author)This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention and the electric-motor-operated brake pedal. The vehicle was equipped with real-time kinematic Global Positioning System (RTK GPS) and an IEEE 802.11p modem installed in an onboard computer for vehicle-to-vehicle (V2V) communication. The Team Mekar vehicle did not have an original-equipment-manufacturers-supplied adaptive cruise control (ACC). ACC/Cooperative adaptive cruise control (CACC) based on V2V-communicated GPS position/velocity and preceding vehicle acceleration feedforward were implemented in the Team Mekar vehicle. This paper presents experimental and simulation results of the Team Mekar CACC implementation, along with a discussion of the problems encountered during the GCDC cooperative mobility runs