A Path Tracking Control Method Considering Vehicle Stability and Road Curvature

2025-01-8038

04/01/2025

Features
Event
WCX SAE World Congress Experience
Authors Abstract
Content
The current research landscape in path tracking control predominantly focuses on enhancing tracking accuracy, often overlooking the critical aspect of passenger comfort. To address this gap, we propose a novel path tracking control method that integrates vehicle stability indicators and road curvature variations to elevate passenger comfort. The core contributions are threefold: firstly, we conduct comprehensive vehicle dynamics modeling and analysis to identify key parameters that significantly impact ride comfort. By integrating human comfort metrics with vehicle maneuverability indices, we determine the optimal range of dynamics parameters for maximizing passenger comfort during driving. Secondly, inspired by human driving behavior, we design a path tracking controller that incorporates an anti-saturation algorithm to stabilize tracking errors and a curvature optimization algorithm to mimic human driving patterns, thereby enhancing comfort. Lastly, comparative simulations with two prevalent path tracking algorithms under diverse operating conditions reveal that our proposed method, which considers both vehicle stability and road curvature, achieves superior ride comfort while maintaining ideal tracking accuracy.
Meta TagsDetails
DOI
https://doi.org/10.4271/2025-01-8038
Pages
17
Citation
Lu, J., Zeng, D., Hu, Y., Wang, X. et al., "A Path Tracking Control Method Considering Vehicle Stability and Road Curvature," SAE Technical Paper 2025-01-8038, 2025, https://doi.org/10.4271/2025-01-8038.
Additional Details
Publisher
Published
Apr 01
Product Code
2025-01-8038
Content Type
Technical Paper
Language
English