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.

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
出版商	Institute of Electrical and Electronics Engineers Inc.
页	482-488
页数	7
ISBN（电子版）	9780738146577
DOI	https://doi.org/10.1109/ICUS52573.2021.9641287
出版状态	已出版 - 2021
已对外发布	是
活动	2021 IEEE International Conference on Unmanned Systems, ICUS 2021 - Beijing, 中国期限: 15 10月 2021 → 17 10月 2021

出版系列

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

会议

会议	2021 IEEE International Conference on Unmanned Systems, ICUS 2021
国家/地区	中国
市	Beijing
时期	15/10/21 → 17/10/21

访问文件

10.1109/ICUS52573.2021.9641287

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, F., Zhu, J., Li, Y., Xu, Q., Wan, Y., Gao, H., & Wang, C. (2021). Lateral Control of Intelligent Driving Vehicles under Extreme Conditions. 在 Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021 (页码 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. 在 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., 页码 482-488, 2021 IEEE International Conference on Unmanned Systems, ICUS 2021, Beijing, 中国, 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 等.
Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. 页码 482-488 (Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

U2 - 10.1109/ICUS52573.2021.9641287

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 等. Lateral Control of Intelligent Driving Vehicles under Extreme Conditions. 在 Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021. Institute of Electrical and Electronics Engineers Inc. 2021. 页码 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

摘要

出版系列

会议

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学术指纹

引用此