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Vehicle path tracking by integrated chassis control

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Abstract

The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator (LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization (PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tabriz Branch, Islamic Azad University, Tabriz, Iran

    Saman Salehpour

  2. Faculty of Electrical Engineering, Urmia university of Technology, Urmia, Iran

    Yaghoub Pourasad

  3. Young Researchers and Elite Club, Tabriz Branch, Islamic Azad University, Tabriz, Iran

    Seyyed Hadi Taheri

Authors
  1. Saman Salehpour
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  2. Yaghoub Pourasad
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  3. Seyyed Hadi Taheri
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Correspondence to Seyyed Hadi Taheri.

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Salehpour, S., Pourasad, Y. & Taheri, S.H. Vehicle path tracking by integrated chassis control. J. Cent. South Univ. 22, 1378–1388 (2015). https://doi.org/10.1007/s11771-015-2655-y

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  • DOI: https://doi.org/10.1007/s11771-015-2655-y

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