Nonlinear Speed Tracking Control of Vehicles During Low Speed Cruise

Abstract:

When automated manual transmission （AMT） vehicles are driving under the low vehicle speed， its tracking performance is of great importance for vehicle safety. This paper adopts a triple-step method to control the clutch slip process accurately， so as to ensure the speed tracking performance of AMT vehicles under low speed cruise scenario. The triple-step method makes full use of the feedforward information of the reference tracking trajectory and the feedback of the vehicle speed. The Lyapunov method is used during the control law deduction， so that the asymptotic stability of the control scheme is guaranteed. Eventually， the effectiveness of the controller is evaluated through the simulation and real-car tests. The simulation and experimental results show that by using the proposed triple-step method， the vehicle speed tracking performance can be guaranteed under various working conditions.