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Article Dans Une Revue IEEE Transactions on Vehicular Technology Année : 2023

Channel-Level Event-Triggered Communication Scheme for Path Tracking Control of Autonomous Ground Vehicles With Distributed Sensors

Liqin Zhang
Manjiang Hu
Hui Zhang
Yougang Bian
Rongjun Ding

Résumé

In this article, a channel-level event-triggered communication scheme is investigated for path tracking control of autonomous ground vehicles via an in-vehicle network to ensure path tracking performance while reducing network resource utilization. First, a path tracking system is established considering the effect of norm bounded uncertainty on lateral vehicle dynamics, and a state feedback path tracking controller is designed within the Takagi–Sugeno fuzzy framework. Next, a decentralized event-triggered communication scheme is adopted between the sensors and controller, which makes it possible to save communication resources at the channel level. Finally, the results in the CarSim-Simulink joint-simulation environment show that the proposed controller can ensure a reliable path tracking performance in both lateral offset and heading error. At the same time, compared with the simple time-triggered scheme, the proposed method can effectively reduce the usage of communication resources by more than 80%.
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Dates et versions

hal-04278817 , version 1 (25-11-2023)

Identifiants

Citer

Liqin Zhang, Manjiang Hu, Hui Zhang, Yougang Bian, Tran Anh-Tu Nguyen, et al.. Channel-Level Event-Triggered Communication Scheme for Path Tracking Control of Autonomous Ground Vehicles With Distributed Sensors. IEEE Transactions on Vehicular Technology, 2023, 72 (10), pp.12553-12566. ⟨10.1109/TVT.2023.3274111⟩. ⟨hal-04278817⟩
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