Comparative Analysis of MacAdam Model and PI Control in a Predictive Driver Model
Main Article Content
Abstract
Autonomous vehicles are the future of automotive engineering and understanding how this systems work is critical. In these vehicles, controller models are usually needed to generate signals that would normally be imposed by the driver e.g., steering angles, acceleration inputs and braking commands. Intuitively, each control method utilized has its peculiarities and presents different behaviours. In such situation, this paper aims to develop an error comparison between a car displacement and its reference path due the use of two different predictive driver controllers: The proportional-integrative and the MacAdam model. For this purpose, a 14 degrees of freedom vehicle model is used with the aid of MATLAB Simulink, whereas simulations were made using the double-lane change manoeuvre, a commonly used manoeuvre to analyse the vehicle dynamics performance. At the end of this paper, lateral acceleration, displacement and steering wheel angle analysis led the conclusion that the vehicle behaviour is smoother with the use of the proportional-integrative control regardless of longitudinal velocity. Nevertheless, the trajectory error is smaller for MacAdam model than PI controller is and therefore it is easier to follow the reference path with this one, although in aggressive maneuverers it can cause more discomfort and increase the risk of rolling when compared to the PI controller in a vehicle with the same body stiffness.
Article Details
Issue
Section
Articles
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms: a. Authors retain copyright and grant the journal right of first publication, with the work two years after publication simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal. b. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal. c. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).