Design of variable curvature lane changing control system based on inverse system decoupling

Abstract

At present, the lane changing technology for a single driving environment has been relatively mature, but the actual situations are much more complicated, such as the changing curvature and the changes in road conditions. In this paper, a new lane changing obstacle avoidance control strategy for the variable curvature road was proposed. It has two stages including path planning for variable curvature lane changing and inverse system decoupling (ISD) control for path tracking. The first stage established the lane changing path models for the variable curvature road. A longitudinal-lateral safe distance model was proposed to constrain the safe boundary of the lane changing path. The second stage proposed a dynamic decoupling method for longitudinal and lateral motion based on the inverse system decoupling, a direct yaw moment and active front wheel steering coordinated control method was designed. The inverse system decoupling algorithm can correct the single point preview (SPP) method to improve the stability and the path tracking accuracy in the lane changing obstacle avoidance process. The strategy was simulated by CarSim/Simulink co-simulation, and the experiments were carried out on the hardware-in-the-loop platform. The results show that the proposed control strategy can effectively avoid obstacles when the vehicle is driving on the variable curvature road. Besides, for the different road conditions and the strong non-linearity generated during the lane changing process, the control strategy can reduce the tracking error by a maximum of 32.7%, both the yaw rate and side slip angle can be controlled in a smaller range.

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

“…Through the decoupling of yaw and lateral motion, the ESC system can also ensure the vehicle stability at high speed lane changing. 18 Due to the independent characteristics of the four wheels, the distributed drive electric vehicle can realize electronic stability control through the distribution of the regenerative braking force, which can improve the energy utilization rate while providing braking force. 19 The braking force that the regenerative braking system can provide is limited, resulting in the inability to form the large additional yaw moment under some special conditions.…”