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Trajectory Planning and Control of Autonomous Vehicle Under Extreme Conditions Based on Autonomous Drift
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Shaobo Lu1, Lingfeng Dai1, Chenhui Wang1, Bingjun Liu2, Zhigang Chu1, Wenke Xie1
Automotive Engineering | 2024, 46(10) : 1780 - 1789
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Automotive Engineering | 2024, 46(10): 1780-1789
• Feature Topic： Vehicle Dynamics and Control •
Trajectory Planning and Control of Autonomous Vehicle Under Extreme Conditions Based on Autonomous Drift
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Shaobo Lu1, Lingfeng Dai1, Chenhui Wang1, Bingjun Liu2, Zhigang Chu1, Wenke Xie1
Affiliations
  • 1. College of Mechanical and Vehicle Engineering，Chongqing University，Chongqing 　400030
  • 2. Chongqing Changan Automobile Co. ，Ltd. ，Chongqing 　400023
Published: 2024-10-25 doi: 10.19562/j.chinasae.qcgc.2024.10.006
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To consider both stability and trajectory tracking performance of autonomous vehicles operating in extreme conditions，a trajectory planning and control method based on autonomous drift is proposed. A neural network tire dynamics model is designed based on neural network to improve the accuracy of the traditional magic tire formulation. In order to further expand the stability boundaries under the extreme working conditions of autonomous vehicles，the drift stability boundaries are designed based on the tire saturation and maximum sideslip characteristics combined with the center-of-mass lateral deflection angle-transverse swing angular velocity phase plane constraints during drift，and the nonlinear model predictive control （NMPC） is used to plan a safe drift trajectory within a wider stability range，and the drift tracking control is carried out for the planned trajectory. The results of the joint simulation of Simulink/CarSim show that the method can fully utilize the advantages of drift motion to ensure that the vehicle does not go out of control under extreme working conditions，while accurately tracking the desired trajectory.

extreme conditions  /  trajectory tracking  /  stability control  /  neural network tire model  /  nonlinear model predictive control
Shaobo Lu, Lingfeng Dai, Chenhui Wang, Bingjun Liu, Zhigang Chu, Wenke Xie. Trajectory Planning and Control of Autonomous Vehicle Under Extreme Conditions Based on Autonomous Drift[J]. Automotive Engineering, 2024 , 46 (10) : 1780 -1789 . DOI: 10.19562/j.chinasae.qcgc.2024.10.006
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Year 2024 volume 46 Issue 10
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Article Info
doi: 10.19562/j.chinasae.qcgc.2024.10.006
  • Receive Date：2024-05-20
  • Online Date：2025-07-21
  • Published：2024-10-25
Article Data
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History
  • Received：2024-05-20
  • Revised：2024-07-16
Funding
Affiliations
    1. College of Mechanical and Vehicle Engineering，Chongqing University，Chongqing 　400030
    2. Chongqing Changan Automobile Co. ，Ltd. ，Chongqing 　400023
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Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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