Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?

PROJECT TITLE :

Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?

ABSTRACT:

The path-following drawback for autonomous vehicles is investigated during this paper. The desired vehicle heading is usually chosen because the tangent direction on the specified path. This paper points out that the ancient definition of the desired heading could deteriorate the path-following performance, significantly when the vehicle is tracking a path with large curvature. That's because the sideslip angle management and therefore the yaw rate management are conflicting within the presence of sliding effects, and also the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper additional provides an change to the definition of the desired heading, which realizes a a lot of correct path-following maneuver. In the controller style section, backstepping is used to come up with the required yaw rate, and an LQR controller is adopted to get the optimal active front steering input. The CarSim–Simulink joint simulation verifies the reasonability of the modification to the desired heading.

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