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Otonom taşıt yol takibi, otonom taşıt kontrolündeki önemli problemlerden birisidir. Otonom taşıt istenilen hızda yol alırken istenilen yol profilini yoldan yana sapma miktarını en aza indirecek şekilde takip etmelidir. Bu çalışmada bu problemin çözümü için LQI kontrol yöntemi önerilmiştir. LQI tabanlı kontrol sistemi, taşıt hızının taşıt dinamik davranışı üzerindeki etkisi dikkate alınarak hıza bağlı olarak kazanç uyarmalı şekilde tasarlanmıştır. Önerilen yöntem yüksek serbestlik dereceli kablosuz direksiyon eyleyici modeli içeren doğrusal olmayan taşıt dinamiği modeliyle simülasyon ortamında test edilmiştir. Önerilen kontrol sisteminin performansı, PID ve LQR tabanlı kontrol sistemleriyle iki farklı simülasyon senaryosunda karşılaştırılmıştır. Farklı kontrol yöntemlerin sayısal olarak karşılaştırılmasında istatistiksel hata değerleri kullanılmıştır. Simülasyon sonuçları ve hata değerleri göstermektedir ki hıza bağlı kazanç uyarlamalı LQI kontrol sistemi kullanan otonom taşıt, sabit ve değişken taşıt hızında istenilen yolu daha az hatayla takip etmektedir.
Autonomous vehicle road tracking is one of the major problems in autonomous vehicle control. The autonomous vehicle must follow the desired road profile while driving at the desired speed to minimize the amount of deviation on the side of the road. In this study, the LQI control method was proposed to solve this problem. The LQI-based control system is designed to stimulate gains depending on speed, taking into account the impact of vehicle speed on the dynamic behavior of the vehicle. The recommended method has been tested in a simulation environment with a nonlinear vehicle dynamic model containing a high-freedom wireless wheel drive model. The performance of the recommended control system is compared with PID and LQR-based control systems in two different simulation scenarios. Statistical error values have been used in the numeric comparison of different control methods. The simulation results and error values show that autonomous vehicles using the speed-related gain-adjusted LQI control system follow the desired path at a fixed and variable vehicle speed with less error.
Automated path following is one of the major problem in automated vehicle control. Automated vehicle should follow the desired path to minimize the lateral deviation from the path while traveling at the desired speed. In this paper, LQI control method is proposed to solve this problem. LQI based control system is designed based on speed dependent gain scheduling taking into account the effect of vehicle speed on vehicle dynamic behaviour. The proposed method is tested in a simulation environment with a high degree-of-freedom nonlinear vehicle model including steer-by-wire steering actuator model. The performance of the proposed is compared with PID and LQR based control systems in two different simulation scenarios. Statistical error values are used for numerical comparison of different control methods. Simulation results and error values show that speed dependent gain scheduled LQI control system equipped automated vehicle follows the desired path with less error at constant and variable vehicle speed.
Field : Mühendislik
Journal Type : Ulusal
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