Intelligent Vehicle Trajectory Tracking Control Based on VFF-RLS Road Friction Coefficient Estimation

نویسندگان

چکیده

This paper proposes an autonomous vehicle trajectory tracking system that fully considers road friction. When intelligent drives at high speed on roads with different friction coefficients, the difficulty of its control lies in fast and accurate identification coefficients. Therefore, improved strategy is designed based traditional recursive least squares (RLS), which utilized for coefficient. First, tire force slip rate required estimation coefficient by constructing dynamics model effective are calculated. In this paper, a variable forgetting factor (VFF-RLS) method proposed construction estimator. Second, identified results output to predictive controller (MPC) constructed as way improve angle constraints, realize vehicle. Finally, joint simulation test Carsim Matlab/Simulink show VFF-RLS estimator has outstanding performance.

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ژورنال

عنوان ژورنال: Electronics

سال: 2022

ISSN: ['2079-9292']

DOI: https://doi.org/10.3390/electronics11193119