Integrated Control of Longitudinal and Lateral Motion for Autonomous Vehicle Driving System

JI Jie, LI Yi-nong, ZHENG Ling, ZHAO Shu-en

China Journal of Highway and Transport ›› 2010, Vol. 23 ›› Issue (5) : 119-126.

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China Journal of Highway and Transport ›› 2010, Vol. 23 ›› Issue (5) : 119-126.
Original Article

Integrated Control of Longitudinal and Lateral Motion for Autonomous Vehicle Driving System

  • JI Jie1, LI Yi-nong2, ZHENG Ling2, ZHAO Shu-en2
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Abstract

In order to improve the motion performances of the autonomous vehicle driving system, an integrated control system of longitudinal and lateral motion was designed based on fuzzy logic and sliding model control theory. The control system can control throttle opening, brake pressure, front wheel steer angle and active yaw moment coordinately so as to keep the vehicle following the ideal trajectory at an expected speed and improve the vehicle's stability during driving process. The simulation results show that the integrated control system of longitudinal and lateral motion which can improve the tracking and motion performances under different driving conditions is effective in autonomous vehicle driving process.

Key words

automotive engineering / autonomous vehicle driving system / fuzzy logic / integrated control / sliding model control

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JI Jie, LI Yi-nong, ZHENG Ling, ZHAO Shu-en. Integrated Control of Longitudinal and Lateral Motion for Autonomous Vehicle Driving System[J]. China Journal of Highway and Transport, 2010, 23(5): 119-126

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