Ramp Start and Speed Control of Self-Driving Commercial Vehicles under Ramp and Vehicle Load Uncertainty

In order to improve the performance of self-driving commercial vehicles for half-hill starting, a ramp control strategy based on the back-slip speed corresponding to the parking moment is proposed. Firstly, the longitudinal dynamics model of the vehicle is established, the force of the vehicle on th...

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Bibliographic Details
Published in:Actuators 2024-06, Vol.13 (6), p.201
Main Authors: Zeng, Dequan, Fang, Huafu, Yu, Yinquan, Hu, Yiming, Zhang, Peizhi, Luo, Wei
Format: Article
Language:English
Subjects:
Algorithms
Braking systems
Commercial vehicles
Comparative analysis
Controllers
hill start
Parking
rear slip distance
residual torque
Roads & highways
Simulation
Sliding mode control
Speed control
Tracking
Traffic speed
Vehicles
Working conditions
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Summary:In order to improve the performance of self-driving commercial vehicles for half-hill starting, a ramp control strategy based on the back-slip speed corresponding to the parking moment is proposed. Firstly, the longitudinal dynamics model of the vehicle is established, the force of the vehicle on the ramp is analyzed, and the rear slip speed of the vehicle is matched with the parking moment, and finally the target speed is tracked based on the sliding-mode controller, and in order to validate the validity of the method, two comparative algorithms of the pure PI controller and the proportional gain controller based on the back-sliding speed corresponding to the resting moment are designed for comparative experiments, and the data results show that the control strategy based on the resting moment corresponding to the backsliding speed of the sliding mode ramp start control strategy can stably complete the ramp start under different weights and different slopes, and greatly reduce the backsliding distance of the vehicle.
ISSN:2076-0825
2076-0825
DOI:10.3390/act13060201