A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire

This paper proposes a stereo vision-aided receding horizon vehicle dynamic control system for independent drive vehicles steered by wire. First, we propose the receding horizon vehicle dynamic control (RHVDC) to track the desired slip angle and yaw rate of a dynamic vehicle. The RHVDC computes and u...

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Autores principales:	Hyoung-Woong Lee, Sangseok Hong, Soohee Han
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Receding horizon control vehicle dynamic control (VDC) steer-by-wire (SBW) stereo vision Yaw moment control (YMC) Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/79aa6e796cd545a8b3eb844e8f5e2c55
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id	oai:doaj.org-article:79aa6e796cd545a8b3eb844e8f5e2c55
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spelling	oai:doaj.org-article:79aa6e796cd545a8b3eb844e8f5e2c552021-11-18T00:10:41ZA Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire2169-353610.1109/ACCESS.2021.3124216https://doaj.org/article/79aa6e796cd545a8b3eb844e8f5e2c552021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9594831/https://doaj.org/toc/2169-3536This paper proposes a stereo vision-aided receding horizon vehicle dynamic control system for independent drive vehicles steered by wire. First, we propose the receding horizon vehicle dynamic control (RHVDC) to track the desired slip angle and yaw rate of a dynamic vehicle. The RHVDC computes and updates control inputs at each sampling time to minimize a quadratic cost function over the finite future time horizon, allowing it to address the time-varying property of dynamic vehicles. Its stability is shown to be guaranteed with appropriate parameters. Second, unlike the conventional steering systems fixed with the driver’s steering wheels, the SBW system improves the controllability of vehicle dynamics and enables better tracking performance. Third, combining a stereo vision system with existing sensors allows state estimation of dynamic vehicles to be more accurate in noisy environments. The three strategies mentioned above ultimately maximize the tracking performance of dynamic vehicles through improvement in terms of theory, facilities, and recognition. Through the software-in-the-loop simulation (SILS) with CarSim, the proposed RHVDC system has the better tracking performance for controlling both the slip angle and the yaw rate compared with the existing ones. It is also observed that the performance enhancement of the proposed RHVDC system is more outstanding on slippery or more severe roads.Hyoung-Woong LeeSangseok HongSoohee HanIEEEarticleReceding horizon controlvehicle dynamic control (VDC)steer-by-wire (SBW)stereo visionYaw moment control (YMC)Electrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 147591-147599 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Receding horizon control vehicle dynamic control (VDC) steer-by-wire (SBW) stereo vision Yaw moment control (YMC) Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Receding horizon control vehicle dynamic control (VDC) steer-by-wire (SBW) stereo vision Yaw moment control (YMC) Electrical engineering. Electronics. Nuclear engineering TK1-9971 Hyoung-Woong Lee Sangseok Hong Soohee Han A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire
description	This paper proposes a stereo vision-aided receding horizon vehicle dynamic control system for independent drive vehicles steered by wire. First, we propose the receding horizon vehicle dynamic control (RHVDC) to track the desired slip angle and yaw rate of a dynamic vehicle. The RHVDC computes and updates control inputs at each sampling time to minimize a quadratic cost function over the finite future time horizon, allowing it to address the time-varying property of dynamic vehicles. Its stability is shown to be guaranteed with appropriate parameters. Second, unlike the conventional steering systems fixed with the driver’s steering wheels, the SBW system improves the controllability of vehicle dynamics and enables better tracking performance. Third, combining a stereo vision system with existing sensors allows state estimation of dynamic vehicles to be more accurate in noisy environments. The three strategies mentioned above ultimately maximize the tracking performance of dynamic vehicles through improvement in terms of theory, facilities, and recognition. Through the software-in-the-loop simulation (SILS) with CarSim, the proposed RHVDC system has the better tracking performance for controlling both the slip angle and the yaw rate compared with the existing ones. It is also observed that the performance enhancement of the proposed RHVDC system is more outstanding on slippery or more severe roads.
format	article
author	Hyoung-Woong Lee Sangseok Hong Soohee Han
author_facet	Hyoung-Woong Lee Sangseok Hong Soohee Han
author_sort	Hyoung-Woong Lee
title	A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire
title_short	A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire
title_full	A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire
title_fullStr	A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire
title_full_unstemmed	A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire
title_sort	stereo vision-aided receding horizon vehicle dynamic control system for independent drive vehicles steered by wire
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/79aa6e796cd545a8b3eb844e8f5e2c55
work_keys_str_mv	AT hyoungwoonglee astereovisionaidedrecedinghorizonvehicledynamiccontrolsystemforindependentdrivevehiclessteeredbywire AT sangseokhong astereovisionaidedrecedinghorizonvehicledynamiccontrolsystemforindependentdrivevehiclessteeredbywire AT sooheehan astereovisionaidedrecedinghorizonvehicledynamiccontrolsystemforindependentdrivevehiclessteeredbywire AT hyoungwoonglee stereovisionaidedrecedinghorizonvehicledynamiccontrolsystemforindependentdrivevehiclessteeredbywire AT sangseokhong stereovisionaidedrecedinghorizonvehicledynamiccontrolsystemforindependentdrivevehiclessteeredbywire AT sooheehan stereovisionaidedrecedinghorizonvehicledynamiccontrolsystemforindependentdrivevehiclessteeredbywire
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A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire

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