Steering Control System for Multi-Vehicle Lateral Synchronized Driving

Baek-soon Kwon; Hyeon-kyu Yu

doi:10.22680/kasa2025.17.1.032

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2025 Vol.17, Issue 1 Preview Page Next Page

Steering Control System for Multi-Vehicle Lateral Synchronized Driving 다중차량 횡방향 동기화 주행을 위한 조향 제어 시스템

31 March 2025. pp. 32-40

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Abstract

This paper presents a steering control system model for synchronized driving of two vehicles to increase the freedom of cargo transportation. The two autonomous vehicles drive side by side in the lateral direction to safely transport one large cargo. The overall steering control algorithm for synchronization consists of two parts. The first part preemptively determines the vehicle speed and steering angle for the two vehicles to have the same instantaneous rotation center using the Ackerman steering mechanism. However, the gap between the vehicles is not maintained because it is impossible to accurately achieve the kinematically required vehicle speed and steering angle of each wheel at every moment. To address this issue, the two vehicles form a master-slave relationship, allowing the slave vehicle to track the master vehicle. The second part of the steering control algorithm generates a trajectory of the virtual vehicle having a constant lateral offset from the master vehicle and determines an additional corrective steering angle of the slave vehicle to reduce the position error with the virtual vehicle. The position error dynamics can be described by a bilinear control system. The error state feedback steering control system was designed and the control performance was verified via computer simulation studies.

Keywords

Synchronized driving(동기화 주행)

Ackermann steering(애커만 조향)

Bicycle model(자전거 모델)

Bilinear System(쌍선형 시스템)

References

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 17
No :1
Pages :32-40
Received Date : 2024-12-09
Revised Date : 2024-12-27
Accepted Date : 2024-12-30
DOI :https://doi.org/10.22680/kasa2025.17.1.032

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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