The formation of the law of steering angle control to maintain a given vehicle trajectory
Abstract
Introduction. The object of study was a control system for changing the trajectory of the vehicle. The subject of the study were ways of maintaining a given trajectory of the vehicle based on the method of calculating solids dynamics. The study of the influence of transmission and suspension on the change in the trajectory of the vehicle was not considered and was beyond the scope of this article.
The purpose of the study was to develop a control model for changing the vehicle's trajectory using the example of a two-axle all-wheel drive truck, including subsystems – transmission, suspension system and steering.
Methodology and research methods. The vehicle was described as a system of solids connected by hinges and force interactions and compiling a set of typical elements of a software package. According to this description of the system, the software package automatically generated systems of equations of motion and relationships. The equations were solved using the implicit numerical method with variable pitch and automatically accurately controlled.
Scientific novelty and results. The paper considered the formation of the law of steering angle control to maintain a given trajectory. A detailed description of the developed simplified control model and analytical dependencies has been made for setting model parameters. An example of the selection of coefficients for its adjustment was demonstrated, recommendations for other types of calculation modes were proposed. In the work, an example of calculation was shown corresponding to a rearrangement of the vehicle with a subsequent return to the original lane. This example proved the adequacy of the model.
Practical significance. The developed mathematical model can be use for calculating the simulation of driver-driven vehicles, unmanned vehicles and adaptive driver assistance systems in the calculating systems of solids dynamics. Dynamic models can be also used to calculate the loads on the vehicle's load-bearing system, parts of the suspension and steering systems, etc.
About the Authors
I. V. Chichekin
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Department “Wheeled vehicles”, PhD (Eng), associate professor
Moscow 105005
Ya. Yu. Levenkov
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Department “Wheeled vehicles”, PhD (Eng), associate professor
Moscow 105005
P. I. Zuenkov
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Department “Wheeled vehicles”, student
Moscow 105005
R. O. Maksimov
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Department “Wheeled vehicles”, student
Moscow 105005
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Review
For citations:
Chichekin I.V., Levenkov Ya.Yu., Zuenkov P.I., Maksimov R.O. The formation of the law of steering angle control to maintain a given vehicle trajectory. Trudy NAMI. 2019;(3):53-61. (In Russ.)
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