Lateral Control of Intelligent Driving Vehicles under Extreme Conditions

Fei Zhang; Juping Zhu; Yuansheng Li; Qing Xu; Yuanlong Wan; Hongbo Gao; Chengcai Wang

doi:10.1109/ICUS52573.2021.9641287

Lateral Control of Intelligent Driving Vehicles under Extreme Conditions

Fei Zhang
, Juping Zhu
, Yuansheng Li
, Qing Xu
, Yuanlong Wan
, Hongbo Gao
, Chengcai Wang

Anhui University
University of Science and Technology of China
National University of Defense Technology
Tsinghua University
Zhongdianke Ocean Information Technology Research Institute Co.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

At present, the intelligent vehicles industry is getting hotter and hotter. The lateral control of intelligent vehicles is a key technology for intelligent driving vehicles under extreme conditions. This paper analyzes the dynamics of intelligent driving vehicles and uses model predictive control(MPC) to realize lateral control of intelligent driving vehicles on ice. This paper uses carsim to establish a vehicle model and configuration environment, and simulates it on an ice surface with a friction coefficient of mu=0.2. Under this condition, the trajectory tracking of a vehicle with a speed of 6.7m/s is realized, and the maximum tracking error is only 0.35m.

Original language	English
Title of host publication	Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	482-488
Number of pages	7
ISBN (Electronic)	9780738146577
DOIs	https://doi.org/10.1109/ICUS52573.2021.9641287
State	Published - 2021
Externally published	Yes
Event	2021 IEEE International Conference on Unmanned Systems, ICUS 2021 - Beijing, China Duration: 15 Oct 2021 → 17 Oct 2021

Publication series

Name	Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021

Conference

Conference	2021 IEEE International Conference on Unmanned Systems, ICUS 2021
Country/Territory	China
City	Beijing
Period	15/10/21 → 17/10/21

Keywords

Extreme conditions
Intelligent vehicle
Lateral control
MPC

Access to Document

10.1109/ICUS52573.2021.9641287

Cite this

Zhang, F., Zhu, J., Li, Y., Xu, Q., Wan, Y., Gao, H., & Wang, C. (2021). Lateral Control of Intelligent Driving Vehicles under Extreme Conditions. In Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021 (pp. 482-488). (Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS52573.2021.9641287

@inproceedings{b370e048be494b348d4cb1aba1f2a303,

title = "Lateral Control of Intelligent Driving Vehicles under Extreme Conditions",

abstract = "At present, the intelligent vehicles industry is getting hotter and hotter. The lateral control of intelligent vehicles is a key technology for intelligent driving vehicles under extreme conditions. This paper analyzes the dynamics of intelligent driving vehicles and uses model predictive control(MPC) to realize lateral control of intelligent driving vehicles on ice. This paper uses carsim to establish a vehicle model and configuration environment, and simulates it on an ice surface with a friction coefficient of mu=0.2. Under this condition, the trajectory tracking of a vehicle with a speed of 6.7m/s is realized, and the maximum tracking error is only 0.35m.",

keywords = "Extreme conditions, Intelligent vehicle, Lateral control, MPC",

author = "Fei Zhang and Juping Zhu and Yuansheng Li and Qing Xu and Yuanlong Wan and Hongbo Gao and Chengcai Wang",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Unmanned Systems, ICUS 2021 ; Conference date: 15-10-2021 Through 17-10-2021",

year = "2021",

doi = "10.1109/ICUS52573.2021.9641287",

language = "英语",

series = "Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "482--488",

booktitle = "Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021",

address = "美国",

}

Zhang, F, Zhu, J, Li, Y, Xu, Q, Wan, Y, Gao, H & Wang, C 2021, Lateral Control of Intelligent Driving Vehicles under Extreme Conditions. in Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021. Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021, Institute of Electrical and Electronics Engineers Inc., pp. 482-488, 2021 IEEE International Conference on Unmanned Systems, ICUS 2021, Beijing, China, 15/10/21. https://doi.org/10.1109/ICUS52573.2021.9641287

Lateral Control of Intelligent Driving Vehicles under Extreme Conditions. / Zhang, Fei; Zhu, Juping; Li, Yuansheng et al.
Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 482-488 (Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Lateral Control of Intelligent Driving Vehicles under Extreme Conditions

AU - Zhang, Fei

AU - Zhu, Juping

AU - Li, Yuansheng

AU - Xu, Qing

AU - Wan, Yuanlong

AU - Gao, Hongbo

AU - Wang, Chengcai

PY - 2021

Y1 - 2021

N2 - At present, the intelligent vehicles industry is getting hotter and hotter. The lateral control of intelligent vehicles is a key technology for intelligent driving vehicles under extreme conditions. This paper analyzes the dynamics of intelligent driving vehicles and uses model predictive control(MPC) to realize lateral control of intelligent driving vehicles on ice. This paper uses carsim to establish a vehicle model and configuration environment, and simulates it on an ice surface with a friction coefficient of mu=0.2. Under this condition, the trajectory tracking of a vehicle with a speed of 6.7m/s is realized, and the maximum tracking error is only 0.35m.

AB - At present, the intelligent vehicles industry is getting hotter and hotter. The lateral control of intelligent vehicles is a key technology for intelligent driving vehicles under extreme conditions. This paper analyzes the dynamics of intelligent driving vehicles and uses model predictive control(MPC) to realize lateral control of intelligent driving vehicles on ice. This paper uses carsim to establish a vehicle model and configuration environment, and simulates it on an ice surface with a friction coefficient of mu=0.2. Under this condition, the trajectory tracking of a vehicle with a speed of 6.7m/s is realized, and the maximum tracking error is only 0.35m.

KW - Extreme conditions

KW - Intelligent vehicle

KW - Lateral control

KW - MPC

UR - https://www.scopus.com/pages/publications/85124155930

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DO - 10.1109/ICUS52573.2021.9641287

M3 - 会议稿件

AN - SCOPUS:85124155930

T3 - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021

SP - 482

EP - 488

BT - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Unmanned Systems, ICUS 2021

Y2 - 15 October 2021 through 17 October 2021

ER -

Zhang F, Zhu J, Li Y, Xu Q, Wan Y, Gao H et al. Lateral Control of Intelligent Driving Vehicles under Extreme Conditions. In Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 482-488. (Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021). doi: 10.1109/ICUS52573.2021.9641287

Lateral Control of Intelligent Driving Vehicles under Extreme Conditions

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