Comparative study of path-tracking regulators based on a geometric method
https://doi.org/10.51187/0135-3152-2020-4-72-81
Abstract
Introduction. The article describes elaboration, modeling and comparative study of vehicle path-tracking regulators based on a geometric method. Regulators of this type belong to the major components of vehicle driving automation systems. Estimation of the regulators’ accuracy and control quality was carried out in different driving conditions using a mathematical model of vehicle dynamics whose adequacy was substantiated through a comparison with experimental data.
The purpose of the study is to develop the path-tracking regulators based on a geometric method and perform a comparative analysis of these regulators.
Methodology and research methods. The performance of the path-tracking regulators was analyzed with methods of automatic control theory. The testing of the regulators was carried out using a mathematical model of vehicle dynamics. The model accuracy was estimated using root mean square errors and maximum differences between the simulation results and the experimental data.
Scientific novelty and results. The conducted study allowed drawing a number of conclusions regarding the operating quality and accuracy of the path-tracking regulators based on the geometric method.
The practical significance of the work is constituted by the elaborated regulators, which can be further implemented within automated driving systems.
About the Author
I. A. Ulchenko
Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Engines Institute (FSUE NAMI)
Russian Federation
Russian Federation
Postgraduate software engineer of the Center “Intelligent Systems.
Moscow 125438
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Review
For citations:
Ulchenko I.A. Comparative study of path-tracking regulators based on a geometric method. Trudy NAMI. 2020;(4):72-81. (In Russ.) https://doi.org/10.51187/0135-3152-2020-4-72-81
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