Integrated controller design for rejecting load distribution disturbance in collision avoidance
DOI:
https://doi.org/10.15282/ijame.23.2.2026.1.1020Keywords:
Active disturbance rejection control (ADRC), Collision avoidance system, Vehicle Safety, Kalman State estimator, Longitudinal and lateral controller, Path Tracking System, Autonomous Vehicle systemAbstract
A collision avoidance (CA) system has become a necessity in every vehicle due to its ability to prevent collisions. Numerous techniques have been developed to improve the tracking system, thereby reducing the possibility of collision by increasing its accuracy relative to the reference signal. The path-tracking system is an important element in the CA system, whose function is to prevent deviation from the reference path. However, a conventional path-tracking system without an estimator is unable to track the reference signal in the presence of an external load disturbance. Moreover, the vehicle velocity, as well as variations in load disturbance, retard the vehicle’s path tracking abilities while avoiding an obstacle. This deficiency can lead to fatal consequences during vehicle navigation due to understeering and oversteering. The primary purpose of this research is to design an integrated controller for a disturbance-rejection (IC-DR) path-tracking system to improve tracking performance by rejecting external disturbances while avoiding obstacle. The design process involved formulating a longitudinal force controller to track changes in vehicle acceleration during the CA scenario. Then, the lateral controller was formulated by following these orders: (1) Linearization of the model, (2) Optimal state estimator design by using a linear model, (3) Optimal state feedback regulator design. The CA scenario was simulated by using a nonlinear tire characteristic for vehicle model development in MATLAB Simulink. Next, both controllers were integrated with the vehicle system, and their performance was analyzed. The simulation results show that the path-tracking system prevents deviation from the reference trajectory in understeering and oversteering situations. The proposed path-tracking method can efficiently reduce external disturbances, and it is much simpler than other advanced controllers. The results show that by implementing IC-DR, the mean squared-error between the vehicle and reference trajectories is below 0.01 for all additional load disturbance percentages at different velocities.
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