Formation of the law of steering angle control to maintain a trajectory of the vehicle movement

Abstract

Abstract The object of the study is a control system for changing and maintaining the trajectory of the vehicle. Methods of maintaining a trajectory of the vehicle are the subject of research. Multi-body dynamics (MBD) methods are used to solve this problem. The purpose of the study is development of management model change the trajectory of the vehicle. On the example of a two-axle four-wheel drive truck, a mathematical model of the vehicle includes subsystems-transmission, springing system and steering. The study of the influence of the transmission and suspension to change the trajectory of the car is not considered. The paper deals with the formation of the steering angle control law to maintain a given trajectory. A detailed description of the developed control model and analytical dependencies for setting the parameters of the model. An example of selection of coefficients for its setting is shown, recommendations for other types of calculation modes are offered. In this paper, the calculation of one calculation case corresponding to the rearrangement of the car, followed by a return to the original lane. This example proves the adequacy of the model. The developed mathematical model can be used in the systems of calculation of solid body dynamos in the simulation of driver-driven cars, unmanned vehicles and adaptive driver assistance systems. The vehicle was described as a system of solid bodies connected by hinges and force interactions from the library of typical elements of the software package. According to this description of the system, the software package automatically formed a system of equations of motion and connections. The equations were solved using an implicit numerical method with variable pitch and automatic accuracy control.