International Research Journal of Innovations in Engineering and Technology - IRJIET International Open Access, Monthly, Peer Reviewed, Reputed Journal ISSN (online): 2581-3048

Impact Factor (2025): 6.9

DOI Prefix: 10.47001/IRJIET

Modeling, Simulation and Development of a Model Predictive Controller for an Autonomous Steer by Wire ADS-DV

Abstract

An autonomous vehicle can maneuver its routes in shorter time if it can navigate on the limits of handling. This requires accurate steering commands to be applied to the vehicle which can be generated through an accurate steer by wire system that it’s properly modeled along with the vehicle dynamics. As well as a robust controller that can handle the different driving conditions of the Autonomous vehicle. A mathematical model for autonomous vehicle dynamics is proposed to make use of the maximum attainable acceleration figures the tire can handle without losing traction. As well as investigating the vehicle stability during maneuvers proposed by the higher-level control modules. The model integrates a Steer by Wire System with a simplified electric power train as well as the handling dynamics of the vehicle. It takes into consideration forward, lateral, yaw and roll motions which is more exact and effective than simple bicycle planar models. The stability of the vehicle is investigated as well as its maneuverability. The handling limits of the vehicle are simulated using the g-g diagram under different maneuvers. Lateral and longitudinal accelerations, lateral velocity, slip angle, side forces and yaw motion are all investigated as well as the total acceleration which is plotted on a g-g diagram. A Model Predictive Controller (MPC) for the Steer by wire system is developed to accommodate all the navigation conditions of the vehicle, changes in loading and commands provided by the perception and path planning system. The controller follows the commands given by these systems and provides the recommended maneuver with respect to the vehicle handling limits bounded by the g-g diagram. The controller optimizes the path decided by the decision-making systems and provides the fastest and most stable maneuver without losing control like skidding or roll over.

Country : Egypt

1 Mohamed Abdlshakour Allam2 M.Ibrahim Abdelziz3 Diaa Abidou

  1. Department of Automotive Engineering, Faculty of Engineering, Ain Shams University, Cairo, Egypt 11517
  2. Department of Automotive Engineering, Faculty of Engineering, Ain Shams University, Cairo, Egypt 11517
  3. Department of Automotive Engineering, Faculty of Engineering, Ain Shams University, Cairo, Egypt 11517

IRJIET, Volume 4, Issue 5, May 2020 pp. 24-33

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