نوع مقاله : مقاله مکانیک
نویسندگان
1 دانشجوی دکتری، دانشکده مکانیک، دانشگاه خواجه نصیرالدین طوسی
2 عضو هیئت علمی دانشکده مکانیک، دانشگاه خواجه نصیرالدین طوسی
چکیده
کلیدواژهها
موضوعات
عنوان مقاله [English]
نویسندگان [English]
The purpose of this research is to develop an integrated control algorithm system to track the vehicle path in the double lane change scenario with critical conditions. The proposed control system includes two layers. The first layer is responsible for controlling the motion of the vehicle and benefits from the implementation of two different types of controllers in the proposed algorithm system. In the first layer, the sliding mode controller is used to control the longitudinal movement of the vehicle, and the task of controlling the lateral movement of the vehicle is the responsibility of the controller based on model prediction control. The second layer includes an optimal distribution function for allocating rotational torque to the four vehicle tires. In order to consider the real behavior of the vehicle, the nonlinear dynamics of the tire is considered. The proposed control algorithm is analyzed and investigated in different scenarios with different working conditions and critical and emergency conditions. The results of the performed simulations show the optimal and effectiveness performance of the proposed control algorithm. Also, MATLAB/Carsim software is used to validate the performed simulations.
کلیدواژهها [English]
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