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A | B | C | D | E | F | G |
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[44] | MPC | Proposed MPC design based on steering and vehicle model dynamics for evasive steering manoeuvres | Kinematic and dynamic parameter, steer angle, stiffness | Simulation | Calculated the desired steering angle within the suitable voltage. Physical limits and constraints have been explicitly handled | The proposed MPC have been only worked under the allowable voltage ranges |
[45] | Proposed an integrated MPC-fuzzy approach for the steering control of an AV | Steering angle, side slip angle, kinematic and dynamic parameters, stiffness | Simulation | The proposed MPC model performed 82% superior to the classic MPC | Suspension moment, slip phenomena, and aerodynamic influences have been neglected in the validation process |
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[49] | LQR | Presented the LQG with adaptive Q-matrix to design the steering controller | Kinematic and dynamic parameter, steer angle, stiffness | Practical | Performed explicit in different speeds and in large curvatures and achieved lateral offset of 0.4 m | Did not consider variables, that is, momentary fluctuations, lateral intensity, and model uncertainty during the validation process |
[50] | Proposed a novel approach-based RLQR controller for the lateral control of an AHDV | Articulation angle, steering angle, kinematic and dynamic parameters | Simulation | Performed well for an extension of payloads, then the H controller | The proposed model has not been tested in real-time controlled or in dynamic road scenarios |
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[54] | Game theory | Modeling of manual steering interaction with an automated steering system based on cooperative game theory | Steering angle, kinematic and dynamic parameters, state matrix, cornering stiffness, steering ratio | Case study | Successfully developed Pareto’s steering strategy to control the steering angle efficiently | Control parameters of the proposed strategy have not been identified through a standard system identification approach |
[56] | Proposed an innovative dynamic control authority allocation strategy for the game-based shared control | Side-slip angle, kinematic and dynamic parameters, weight/input/output matrices, state/output vectors | The proposed strategy has ensured the stability of the vehicle | Case studies could not be consider as an authoritative method for validating the proposed solution |
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