首页|Stability-Considered Lane Keeping Control of Commercial Vehicles Based on Improved APF Algorithm

Stability-Considered Lane Keeping Control of Commercial Vehicles Based on Improved APF Algorithm

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Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase and higher mass center.To improve the performance mentioned above comprehensively,the control strategy based on improved artificial potential field(APF)algorithm is proposed.In the paper,time to lane crossing(TLC)is intro-duced into the potential field function to enhance the accuracy of path tracking,meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source.The lane keep-ing controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory.In addition,adaptive inertial weight particle swarm optimization algorithm(AIWPSO)is applied to optimize the gain of each potential field function.The co-simulation results indicate that the comprehensive evalu-ation index respecting lane tracking accuracy and lateral stability is reduced remarkably.Finally,the proposed control strategy is verified by the HiL test.It provides a beneficial reference for dynamics control of commercial vehicles and enriches the theoretical development and practical application of artificial potential field method in the field of intelligent driving.

Lane keeping controlCommercial vehiclesLateral stabilityArtificial potential fieldAIWPSO

Bin Tang、Zhengyi Yang、Haobin Jiang、Ziyan Lin、Zhanxiang Xu、Zitian Hu

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Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China

国家自然科学基金国家自然科学基金国家自然科学基金Six Talent Peak Funding Projects in Jiangsu Province of ChinaKey Science and Technology Support Program in Taizhou City of China

51605199U20A20333522252122019-GDZB-084TG202307

2024

10.1186/s10033-024-00991-0

中国机械工程学报
中国机械工程学会

中国机械工程学报

CSTPCD
影响因子：0.765
ISSN：1000-9345
年,卷(期)：2024.37(1)