Adaptive Curve Passing Control in Autonomous Vehicles with Integrated Dynamics and Camera-Based Radius Estimation
Year: 2024
Type: article
Abstract: Autonomous vehicles frequently encounter performance degradation during high-speed cornering due to excessive speed and lateral acceleration, potentially leading to collisions or rollovers. This paper proposes a novel curve-passing control approach that first estimates the curve radius and then controls the steer and speed for smooth and comfortable handling. In particular, the curve radius is innovatively estimated using a combination of a camera-based lane detection model and a steering wheel dynamic model. The curve-passing control approach is validated on high-speed ramps and curves, demonstrating its robustness and intelligence to adapt to dynamic changes in curve curvature. The model effectively prevents vehicles from entering curves at dangerously high speeds from straight roads and mitigates sudden accelerations or decelerations when entering curves. Experimental results indicate that the vehicle speed is reduced to around 50 km/h and the corresponding acceleration is −0.6 m/s2 upon entering curves with a minimum radius of 150 m. This demonstrates that the proposed control model can ensure a comfortable and safe driving experience by autonomously decelerating the vehicle before entering various types of curves.
Source: Vehicles
Authors: Bin Wang, Zhichuang Liao, Sijing Guo
Institution: Wuhan University of Technology
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $1,819
OpenAlex ID: W4402614699