Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle

How to improve the velocity tracking accuracy is a core and difficult problem in autonomous driving, especially while some core parameters of the controlled vehicle cannot be measured or obtained accurately enough. Without employing a complex longitudinal dynamic model and some difficultly obtained...

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Bibliographic Details
Main Authors: Mingxing Li, Yaqiong Xu, Ming Lei, Bin Zhou
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Velocity tracking
numerical reasonable model
autonomous vehicle
Online Access:https://ieeexplore.ieee.org/document/8917638/
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spelling doaj-04ca99d2511e41e8886741f4cddccf5d2021-03-30T00:26:32ZengIEEEIEEE Access2169-35362019-01-01717671217671810.1109/ACCESS.2019.29565478917638Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous VehicleMingxing Li0https://orcid.org/0000-0002-6751-0342Yaqiong Xu1https://orcid.org/0000-0003-4406-9125Ming Lei2https://orcid.org/0000-0003-1304-2536Bin Zhou3https://orcid.org/0000-0002-1141-5557Seventh Research Division, Beihang University, Beijing, ChinaSeventh Research Division, Beihang University, Beijing, ChinaKey Laboratory of Public Safety Emergency Information Technology of Anhui Province, China Electronic Technology Group Corporation 38th Research Institute, Hefei, ChinaSchool of Electronic and Information Engineering, Beihang University, Beijing, ChinaHow to improve the velocity tracking accuracy is a core and difficult problem in autonomous driving, especially while some core parameters of the controlled vehicle cannot be measured or obtained accurately enough. Without employing a complex longitudinal dynamic model and some difficultly obtained engine parameters, a numerical reasonable model is established based on the off-line data of the vehicle motion. And based on this model, a feed-forward and feedback control scheme is presented and a parameter-varying controller with high robustness is designed. To verify the tracking performance, the electric vehicle model in Matlab2018b is used in the simulating process and results conclude that the new control strategy is very effective.https://ieeexplore.ieee.org/document/8917638/Velocity trackingnumerical reasonable modelautonomous vehicle
collection DOAJ
language English
format Article
sources DOAJ
author Mingxing Li
Yaqiong Xu
Ming Lei
Bin Zhou
spellingShingle Mingxing Li
Yaqiong Xu
Ming Lei
Bin Zhou
Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle
IEEE Access
Velocity tracking
numerical reasonable model
autonomous vehicle
author_facet Mingxing Li
Yaqiong Xu
Ming Lei
Bin Zhou
author_sort Mingxing Li
title Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle
title_short Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle
title_full Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle
title_fullStr Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle
title_full_unstemmed Velocity Tracking Control Based on Throttle-Pedal-Moving Data Mapping for the Autonomous Vehicle
title_sort velocity tracking control based on throttle-pedal-moving data mapping for the autonomous vehicle
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2019-01-01
description How to improve the velocity tracking accuracy is a core and difficult problem in autonomous driving, especially while some core parameters of the controlled vehicle cannot be measured or obtained accurately enough. Without employing a complex longitudinal dynamic model and some difficultly obtained engine parameters, a numerical reasonable model is established based on the off-line data of the vehicle motion. And based on this model, a feed-forward and feedback control scheme is presented and a parameter-varying controller with high robustness is designed. To verify the tracking performance, the electric vehicle model in Matlab2018b is used in the simulating process and results conclude that the new control strategy is very effective.
topic Velocity tracking
numerical reasonable model
autonomous vehicle
url https://ieeexplore.ieee.org/document/8917638/
work_keys_str_mv AT mingxingli velocitytrackingcontrolbasedonthrottlepedalmovingdatamappingfortheautonomousvehicle
AT yaqiongxu velocitytrackingcontrolbasedonthrottlepedalmovingdatamappingfortheautonomousvehicle
AT minglei velocitytrackingcontrolbasedonthrottlepedalmovingdatamappingfortheautonomousvehicle
AT binzhou velocitytrackingcontrolbasedonthrottlepedalmovingdatamappingfortheautonomousvehicle
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