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

Yıl 2019, Cilt: 7 Sayı: 4, 855 - 868, 24.12.2019

Mümin Tolga Emirler

https://doi.org/10.29109/gujsc.582081

Öz

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 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.

Anahtar Kelimeler

Automated vehicles, Control system design, LQI, LQR, Simulation

Otonom Taşıtlar için Hıza Bağlı Kazanç Uyarlamalı LQI Tabanlı Yol Takip Kontrol Sistemi Tasarımı

Öz

Otonom taşıt yol takibi, otonom taşıt kontrolündeki önemli
problemlerden birisidir. Otonom taşıt istenilen hızda yol alırken istenilen yol
profilini yoldan yana sapma miktarını en aza indirecek şekilde takip etmelidir.
Bu çalışmada bu problemin çözümü için LQI kontrol yöntemi önerilmiştir. LQI tabanlı
kontrol sistemi, taşıt hızının taşıt dinamik davranışı üzerindeki etkisi
dikkate alınarak hıza bağlı olarak kazanç uyarmalı şekilde tasarlanmıştır.
Önerilen yöntem yüksek serbestlik dereceli kablosuz direksiyon eyleyici modeli
içeren doğrusal olmayan taşıt dinamiği modeliyle simülasyon ortamında test
edilmiştir. Önerilen kontrol sisteminin performansı, PID ve LQR tabanlı kontrol
sistemleriyle iki farklı simülasyon senaryosunda karşılaştırılmıştır. Farklı
kontrol yöntemlerin sayısal olarak karşılaştırılmasında istatistiksel hata
değerleri kullanılmıştır. Simülasyon sonuçları ve hata değerleri göstermektedir
ki hıza bağlı kazanç uyarlamalı LQI kontrol sistemi kullanan otonom taşıt,
sabit ve değişken taşıt hızında istenilen yolu daha az hatayla takip etmektedir.

Anahtar Kelimeler

Otonom taşıtlar, Kontrol sistemleri tasarımı, LQI, LQR, Simülasyon

Kaynakça

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