A novel control approach for path tracking of a force-controlled two-wheel-steer four-wheel-drive vehicle

Tan, Qifan; Shi, Lingling; Katupitiya, Jayantha

doi:10.1177/0954407018760433

Cited by 9 publications

(3 citation statements)

References 25 publications

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“…In [84], vehicular ad hoc networks (VANETs) and three-valued, secure routing (VSR) are used for intelligent transport systems and vehicle control management. The study in the direct yaw control system (DYC) [85][86][87], active front steering system (AFS) [77,88], fourwheel steering system [89], collision avoidance system (CAS) [90], adaptive cruise control (ACC) [91] and acceleration slip regulation (ASR) have shown that the longitudinal drive stability and dynamic performance have been improved [92]. It is interesting to note that the different lateral acceleration and response were generated by changes in the steering wheel angle when the vehicle turns at a constant longitudinal speed.…”

Section: Advanced Technologies For Vehicle State Estimationmentioning

confidence: 99%

Vehicle Dynamics, Lateral Forces, Roll Angle, Tire Wear and Road Profile States Estimation - A Review

2022

IJEM

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Estimation of vehicle dynamics, tire wear, and road profile are indispensable prefaces in the development of automobile manufacturing due to the growing demands for vehicle safety, stability, and intelligent control, economic and environmental protection. Thus, vehicle state estimation approaches have captured the great interest of researchers because of the intricacy of vehicle dynamics and stability control systems. Over the last few decades, great enhancement has been accomplished in the theory and experiments for the development of these estimation states. This article provides a comprehensive review of recent advances in vehicle dynamics, tire wear, and road profile estimations. Most relevant and significant models have been reviewed in relation to the vehicle dynamics, roll angle, tire wear, and road profile states. Finally, some suggestions have been pointed out for enhancing the performance of the vehicle dynamics models.

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Section: Advanced Technologies For Vehicle State Estimationmentioning

confidence: 99%

Vehicle Dynamics, Lateral Forces, Roll Angle, Tire Wear and Road Profile States Estimation - A Review

2022

IJEM

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“…9 Differential braking control was attached to handle path-following problems in several papers. 10–12 Controllers on AFS and direct yaw-moment control (DYC) were discussed for maintaining lateral stability and reducing longitudinal velocity fluctuations. 13,14 A novel controller in a quasi-linear optimization manner was investigated in minimizing the post-impact lateral offset with respect to the desired path.…”

Section: Introductionmentioning

confidence: 99%

Compensatory model predictive control for post-impact trajectory tracking via active front steering and differential torque vectoring

Cao

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper investigates the trajectory tracking control of independently actuated autonomous vehicles after the first impact, aiming to mitigate the secondary collision probability. An integrated predictive control strategy is proposed to mitigate the deteriorated state propagation and facilitate safety objective achievement in critical conditions after a collision. Three highlights can be concluded in this work: (1) A compensatory model predictive control (MPC) strategy is proposed to incorporate a feedforward-feedback compensation control (FCC) method. Based on the definite physical analysis, it is verified that adequate reverse steering and differential torque vectoring render more potentials and flexibility for vehicle post-impact control; (2) With compensatory portions, the deteriorated states after a collision are far beyond the traditional stability envelope. Hence it can be further manipulated in MPC by constraint transformation, rather than introducing soft constraints and decreasing the control efforts on tracking error; (3) Considering time-varying saturation on input, input rate, and slip ratio, the proposed FCC-MPC controller is developed to improve faster deviation attenuation both in lateral and yaw motions. Finally two high-fidelity simulation cases implemented on CarSim-Simulink conjoint platform have demonstrated that the proposed controller has the advanced capabilities of vehicle safety improvement and better control performance achievement after severe impacts.

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“…To improve ground vehicle handling stability and passenger safety, a large number of advanced vehicle-active safety dynamic control systems, such as the direct yaw control system (DYC) [1,2,3,4], anti-lock braking systems (ABS) [5,6], four-wheel steering system (4WS) [7,8], active front steering system (AFS) [2,9], active suspension system (ASS) [9,10], adaptive cruise control (ACC) [11], collision avoidance system (CAS) [12], and other advanced driver assistance systems (ADAS) towards a connected and automated driving vehicle have been developed and brought into the market in recent years [13,14,15].…”

Section: Introductionmentioning

confidence: 99%

Advanced Estimation Techniques for Vehicle System Dynamic State: A Survey

Jin

Yin

Chen

2019

Sensors

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In order to improve handling stability performance and active safety of a ground vehicle, a large number of advanced vehicle dynamics control systems—such as the direct yaw control system and active front steering system, and in particular the advanced driver assistance systems—towards connected and automated driving vehicles have recently been developed and applied. However, the practical effects and potential performance of vehicle active safety dynamics control systems heavily depend on real-time knowledge of fundamental vehicle state information, which is difficult to measure directly in a standard car because of both technical and economic reasons. This paper presents a comprehensive technical survey of the development and recent research advances in vehicle system dynamic state estimation. Different aspects of estimation strategies and methodologies in recent literature are classified into two main categories—the model-based estimation approach and the data-driven-based estimation approach. Each category is further divided into several sub-categories from the perspectives of estimation-oriented vehicle models, estimations, sensor configurations, and involved estimation techniques. The principal features of the most popular methodologies are summarized, and the pros and cons of these methodologies are also highlighted and discussed. Finally, future research directions in this field are provided.

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A novel control approach for path tracking of a force-controlled two-wheel-steer four-wheel-drive vehicle

Cited by 9 publications

References 25 publications

Vehicle Dynamics, Lateral Forces, Roll Angle, Tire Wear and Road Profile States Estimation - A Review

Vehicle Dynamics, Lateral Forces, Roll Angle, Tire Wear and Road Profile States Estimation - A Review

Compensatory model predictive control for post-impact trajectory tracking via active front steering and differential torque vectoring

Advanced Estimation Techniques for Vehicle System Dynamic State: A Survey

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