Active Steering and Driving/Braking Coupled Control Based on Flatness Theory and a Novel Reference Calculation Method

Wang, Yuqiong; Shi, Shuming; Gao, Song; Xu, Yi; Wang, Pengwei

doi:10.1109/access.2019.2959941

Cited by 9 publications

(5 citation statements)

References 24 publications

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“…As a result, the longitudinal and lateral coupled motion characteristics of the vehicle are fully considered (Fergani et al, 2017;Menhour et al, 2014). Wang et al (2019) proposed an integrated controller based on differential flatness theory to address the nonlinear and dynamic coupling characteristics between the longitudinal and lateral directions of the vehicle. However, the controller's effectiveness was only verified through simulation in a lane change scenario, without conducting hardware-in-the-loop (HIL) simulations to assess its performance at high vehicle speed.…”

Section: Introductionmentioning

confidence: 99%

“…As a result, the longitudinal and lateral coupled motion characteristics of the vehicle are fully considered (Fergani et al ., 2017; Menhour et al ., 2014). Wang et al . (2019) proposed an integrated controller based on differential flatness theory to address the nonlinear and dynamic coupling characteristics between the longitudinal and lateral directions of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

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Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation

Guo,

Liu,

Shang

et al. 2023

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PurposeThis research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle.Design/methodology/approachIn addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors’ model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors’ synergistic architecture.FindingsThe framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety.Originality/valueThe proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation

Guo,

Liu,

Shang

et al. 2023

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“…However, there is still a lack of achievements in terms of analyzing or calculating the braking stability region. By systematically studying the vehicle steering and braking stability region, the integrated control theory of vehicle handling stability will be further improved, and the theoretical fundamentals of nonlinear vehicle dynamics will be provided for the longitudinal and lateral coupled control of intelligent vehicles under extreme conditions (mostly steering and braking working conditions) [23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Research on the Vehicle Steering and Braking Stability Region

Xian-bin

Zhang

et al. 2023

Applied Sciences

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Solving the stability region in the plane motion of vehicles has become a hot research topic in vehicle handling stability under extreme conditions, but there is still a lack of research on the stability region under steering and braking conditions. In this paper, a five-degree-of-freedom (5DOF) nonlinear dynamic model of a vehicle with braking torque introduced is established, and the model is transformed into an equivalent system by using the D’Alembert principle. Then, the equilibrium points of the equivalent system are solved by using an improved hybrid algorithm combining the genetic algorithm (GA) and sequential quadratic programming (SQP) method. According to the bifurcation characteristics of the equilibrium points, the boundary of the stability region at the given initial longitudinal velocity is determined, and the three-dimensional stability region is fitted. Finally, the stability region of the equivalent system and the original system are analyzed by the energy dissipation method, and the stability region determined by the equilibrium point bifurcation method is verified by simulation. The results show that as the braking torque increases, the number of equilibrium points increase to three from one, the equilibrium bifurcation method proposed in this paper can effectively solve the stability region of the equivalent system, and the solution results are consistent with the original system stability region. When the limited braking torque is 500 N·m and the initial longitudinal velocity increases from 30 m/s to 50 m/s, the absolute value of the front wheel steering angle at the boundary point changes from less than 0.02 rad to more than 0.02 rad.

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“…In a majority of studies, the path tracking problem was generally approached as a problem of solely steering, neglecting other complexities of ISSN: 2734-9373 https://doi.org/10.51316/jst.166.ssad.2023.33.2.8 Received: March 2, 2023; accepted: April 15, 2023 vehicle motion [3,4]. Although the aforementioned works achieve important results, there exists a strong interdependence between the lateral and longitudinal motions of a vehicle, and the neglect of either one will adversely impact the vehicle's performance [5,6]. Therefore, it is necessary to take into account both the longitudinal and lateral control simultaneously to enhance the control performance in a wide range of driving conditions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Asymmetric Time-Varying Integral Barrier Lyapunov Control-Based Trajectory Tracking of Autonomous Vehicles

2023

JST: SSAD

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This paper investigates the lane following and changing maneuvers of autonomous vehicles in the presence of unknown disturbances, taking into account the dynamic system states and input constraints. The integrated longitudinal-lateral and yaw rate dynamics of the vehicle are simultaneously considered to improve the tracking accuracy and system stability when navigating under critical conditions. Then, an adaptive asymmetric time-varying integral barrier Lyapunov control and dynamic surface control scheme are developed to design the active front steering controller, longitudinal controller, and direct yaw moment control controller, which is capable of constraining the system states and control signals within the predefined boundary. In addition, the radius basis function neural network (RBFNN) is employed to estimate the lumped disturbances caused by the parametric uncertainties, external disturbances, and unmodeled dynamics, and the command filter system is used to avoid the explosion of terms phenomenon. Due to the fast and accurate torque response characteristics of the in-wheel motors, the optimization-based method is then implemented to effectively allocate the driving/braking torque to each in-wheel motor so as to improve vehicle performance. The stability of the closed-loop system is comprehensively demonstrated by means of the Lyapunov theory. Finally, the quantitative and qualitative comparisons in different diving scenarios using the Carim-Simulink joint environment are carried out to illustrate the effectiveness and validation of the proposed method.

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Active Steering and Driving/Braking Coupled Control Based on Flatness Theory and a Novel Reference Calculation Method

Cited by 9 publications

References 24 publications

Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation

Longitudinal and lateral stability control for autonomous vehicles in curved road scenarios with road undulation

Research on the Vehicle Steering and Braking Stability Region

Adaptive Asymmetric Time-Varying Integral Barrier Lyapunov Control-Based Trajectory Tracking of Autonomous Vehicles

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