Research on Hydraulic Steering Control Algorithm of Port AutomaticDriving Based on Segmental Optimal Control
Journal Title: Automotive Digest - Year 2024, Vol 576, Issue 1
Abstract
To improve the lateral control accuracy of autonomous vehicles in port scenarios, a closed-loop controlalgorithm with segmented optimal control is proposed, based on the response characteristics of solenoid valve of hydraulicsteering system. The function of single axle steering, double axle steering and crab steering is realized. Moreover, thefunction and performance of the designed control algorithm have been verified by vehicle validation. The results show thatthe proposed control algorithm can realize fast and stable tracking of the hydraulic steering signal, and can support thelateral control function of the port autonomous vehicle.
Authors and Affiliations
Wang Yang, Zhao Bin, Wang Zhanchun, HaoZhi, Liu Xinyu
Keywords
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