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| Generalized Predictive Control Based on Vehicle Path Following Strategy by Using Active Steering System |
| CAO Yang,HE Dengbo,YU Fan，LUO Zhe
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| (State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University,
Shanghai 200240, China) |
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Abstract Abstract： In order to improve the lane tracking capability of vehicles under disturbances, an active steering system based on generalized predictive controller was proposed, of which a controlled autoregressive integrated movingaverage model (CARIMA) was used as the inner model. Considering the complexity and uncertainty of vehicle parametric modeling process, a recursive least square method was applied to estimate the parameters in the CARIMA model. The controller used the deviation between the vehicle lateral position and desired lateral positon as the input and steering wheel angle as the output. Based on driver steering wheel input, the final corrected steering wheel angle was obtained. The performances of the controller were examined in the SimulinkCarSim environment under strong lateral wind condition in standard doublelanechange operating experiment.
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Received: 24 March 2015
Published: 28 March 2016
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