An adaptive hierarchical control approach of vehicle handling stability improvement based on Steer-by-Wire Systems

Yang, Haohan; Wentong, Liu; Chen, Li; Yu, Fan

doi:10.1016/j.mechatronics.2021.102583

Cited by 23 publications

(5 citation statements)

References 20 publications

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“…The study confirms the promising prospects of this method for future research [14]. Yang et al implemented a variable transmission ratio strategy based on the adaptive neuro-fuzzy inference system and an active front steering controller using integral sliding mode to track the desired yaw rate, ultimately enhancing the vehicle's maneuvering stability [15]. Zhang's findings from simulation comparisons indicate that a variable transmission ratio control strategy based on generalized Boolean algebra exhibits greater stability than fuzzy control [16].…”

Section: Introductionmentioning

confidence: 55%

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

Lin,

Zhang,

et al. 2024

Actuators

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The steer-by-wire system severs the mechanical link between the steering wheel and the steering gear. This configuration enhances the angular transmission characteristics. Entering the nonlinear region of the tires could result in a reduction in the vehicle’s steering gain. In order to improve the comfort of vehicle steering operation, we have developed a variable transmission ratio controller for the steer-by-wire (SBW) system. This controller utilizes information on the vehicle speed and steering wheel angle to generate a variable transmission ratio coefficient, thereby adjusting the steering ratio. We introduce a multi-objective comprehensive evaluation index that takes into account vehicle lateral deviation, driver steering burden, vehicle stability, and safety. To harmonize the transmission ratio weights of constant steering gain, we employ the coefficient of variation method. Ultimately, a fuzzy neural network is employed to craft a nonlinear controller. We conducted steady-state circular motion tests, double lane-change tests, and step input tests to validate the performance of the variable transmission ratio control. The results suggest that, in comparison to conventional fixed transmission ratio systems, the variable transmission ratio control within the steer-by-wire system significantly alleviates the driver’s operational burden while enhancing the vehicle’s handling stability and safety.

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Section: Introductionmentioning

confidence: 55%

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

Lin,

Zhang,

et al. 2024

Actuators

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“…First, the model state function should be established. To analyze the vehicle's stability, this paper intends to select a three degrees of freedom (DOFs) vehicle dynamic model [42, 43], considering the lateral, longitudinal and yaw characteristics of the vehicle. There are several assumptions: …”

Section: Path Followingmentioning

confidence: 99%

A hierarchical control strategy for reliable lane changes considering optimal path and lane‐changing time point

Fan,

Zhan,

Liang

2023

IET Intelligent Trans Sys

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Implementing reliable lane changes is crucial for reducing collisions and enhancing traffic safety. However, existing research lacks comprehensive investigation into the optimal path for maintaining driving quality, and little attention has been given to determining the appropriate lane changing time point. This paper addresses these gaps by presenting a novel hierarchical strategy. First, a synthesized safety distance for lane changing, which considers variable execution duration, is designed to reduce collision risk. Next, a hierarchy of optimization control strategies is proposed to obtain the optimal path. An upper neural network‐fuzzy control algorithm is established to identify an appropriate lane‐changing time point. Additionally, a lower neural network‐improved firefly algorithm is formulated to optimize the preliminary safety path based on multiple driving criteria. Furthermore, the dynamics characteristics of the vehicle are incorporated into the model predictive control algorithm to ensure the vehicle follows the optimal path. Finally, the feasibility of the proposed hierarchical control strategy is validated through typical lane‐changing scenarios conducted on the Carsim–Simulink platform.

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“…Adaptive control belongs to crucial control methodology to deal with time-varying model parameters [2,11]. In addition, it can be seamlessly integrated with various control algorithms in the SBW systems [12][13][14][15][16][17][18][19]. In [12], a prior equation is adopted to estimate and compensate for the self-aligning torque.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays

Rsetam,

Zheng,

Cao

et al. 2024

ASI

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In this paper, an adaptive active disturbance rejection control is newly designed for precise angular steering position tracking of the uncertain and nonlinear SBW system with time delay communications. The proposed adaptive active disturbance rejection control comprises the following two elements: (1) An adaptive extended state observer and (2) an adaptive state error feedback controller. The adaptive extended state observer with adaptive gains is employed for estimating the unmeasured velocity, acceleration, and compound disturbance which consists of system parameter uncertainties, nonlinearities, exterior disturbances, and time delay in which the observer gains are dynamically adjusted based on the estimation error to enhance estimation performances. Based on the accurate estimations of the adaptive extended state observer, the proposed adaptive full state error feedback controller is equipped with variable gains driven by the tracking error to develop control precision. The integration of the advantages of the adaptive extended state observer and the adaptive full state error feedback controller can improve the dynamic transient and static steady-state effectiveness, respectively. To assess the superior performance of the proposed adaptive active disturbance rejection control, a comparative analysis is conducted between the proposed control scheme and the classical active disturbance rejection control in two different cases. It is worth noting that the active disturbance rejection control serves as a benchmark for evaluating the performance of the proposed control approach. The results from the comparison studies executing two simulated cases validate the superiority of the suggested control, in which estimation, tracking response rate, and steering angle precision are greatly improved by the scheme proposed in this article.

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An adaptive hierarchical control approach of vehicle handling stability improvement based on Steer-by-Wire Systems

Cited by 23 publications

References 20 publications

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

A hierarchical control strategy for reliable lane changes considering optimal path and lane‐changing time point

Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays

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