Robust Preview-Based Tractor-Trailer Lateral Control For Lane Keeping
2020 AMERICAN CONTROL CONFERENCE (ACC)(2020)
Abstract
This work proposes a control framework for automated lane keeping of a tractor-trailer truck. The proposed architecture controls vehicle variables in a preview-based manner, thus gaining robustness to sensing and acting delays/lags. Electronic power steering of tractor front wheels is used to act on lateral and yaw dynamics, as well as vision-based lane mark detection for loop closing. A feedforward/feedback control approach is used to stabilize the truck dynamics formulated as a Linear Parameter Varying system. The design objectives include reference yaw rate tracking, robustness against truck modeling uncertainties and control effort definition. Validation results on a high fidelity simulation environment demonstrate the algorithm performance both in constant and varying speeds scenarios, as well as its robustness to external and internal disturbances.
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Key words
reference yaw rate tracking,robust preview-based tractor-trailer lateral control,lane keeping,automated lane,tractor-trailer truck,electronic power steering,tractor front wheels,lateral dynamics,yaw dynamics,vision-based lane mark detection,truck dynamics,linear parameter varying system,robustness
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