Driver Model-Based Fault-Tolerant Control of Independent Driving Electric Vehicle Suffering Steering Failure

Lu, Shuai; Cen, Sheng; Zhang, Yanpeng

doi:10.1007/s42154-018-0013-0

Cited by 5 publications

(3 citation statements)

References 21 publications

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“…For the DYC, the additional yaw moment ∆M z can be obtained by distributing different driving/braking torque to the four wheels, which can be treated as a constrained optimization problem. The tire utilization rate is an important index to judge the degree of vehicle stability [35], so the optimization problem can be formulated as follows:…”

Section: Lower-level Controllermentioning

confidence: 99%

Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Zhao

Zhang

2019

Energies

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A Stackelberg game-based cooperative control strategy is proposed for enhancing the lateral stability of a four-wheel independently driving electric vehicle (FWID-EV). An upper-lower double-layer hierarchical control structure is adopted for the design of a stability control strategy. The leader-follower-based Stackelberg game theory (SGT) is introduced to model the interaction between two unequal active chassis control subsystems in the upper layer. In this model, the direct yaw-moment control (DYC) and the active four-wheel steering (AFWS) are treated as the leader and the follower, respectively, based on their natural characteristics. Then, in order to guarantee the efficiency and convergence of the proposed control strategy, a sequential quadratic programming (SQP) algorithm is employed to solve the task allocation problem among the distributed actuators in the lower layer. Also, a double-mode adaptive weight (DMAW)-adjusting mechanism is designed, considering the negative effect of DYC. The results of cosimulation with CarSim and Matlab/Simulink demonstrate that the proposed control strategy can effectively improve the lateral stability by properly coordinating the actions of AFWS and DYC.Energies 2019, 12, 3339 2 of 21 approaches the adhesion limit [9], whereas DYC could play an effective role under these extreme conditions. This phenomenon reflects the variable control effects of AFS and DYC under changing vehicle states, and some research may not sufficiently consider the dynamic characteristics of the vehicle subsystems. Game theory is an effective method for dealing with the interaction of multiple agents, which provides a system control framework for this kind of cooperative control problem [10]. Since the AFS and DYC-based stability controller generally operate in an interactive manner as the vehicle travels ahead in a road tracking scenario, dynamic game theory should be applied.Dynamic game theory is an optimal approach based on the decision theory and the rules of dynamic game, as defined by Cruz [11] and Basar [12]. There exist three core principles in the dynamic game theory [13]: (1) Each player's attitude towards his own as well as others' interests. (2) Each player's strategy adopted for pursuing their goal. (3) Each player's knowledge received about the state of the system during the game process. Based on these principles, different kinds of game rules are formed, such as for a noncooperative game and a cooperative game. (Due to limited space, for more details about game theory we refer readers to [13] and [14].) Assume that each subsystem aims to achieve individual rationality and to maximize the vehicle stability in its own way. Thus, this work mainly focuses on noncooperative game theory.Noncooperative game theory has been widely studied to solve problems involving multiple individuals where their welfare is interactional [15]. It is an effective approach to address the problem of control authority allocation for multiple players [12]. Tamaddoni et al. [16,17] designed a vehicle lateral s...

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Section: Lower-level Controllermentioning

confidence: 99%

Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Zhao

Zhang

2019

Energies

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“…The instability caused by single-side drive system failure will seriously threaten the safety of people and goods in the vehicle. 14–17…”

Section: Introductionmentioning

confidence: 99%

“…The instability caused by single-side drive system failure will seriously threaten the safety of people and goods in the vehicle. [14][15][16][17] At present, many researchers at home and abroad have conducted research on the failure safety problem of the in-wheel-motor drive electric vehicles. [18][19][20][21][22][23] In the study by Bagheri and Alipour, 20 an actuator fault detection and isolation method for a four-wheel independent drive electric vehicle is proposed.…”

Section: Introductionmentioning

confidence: 99%

Electromechanical composite brake control for two in-wheel motors drive electric vehicle with single motor failure

Zhang

Pang

Wang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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To solve the security control problem of two in-wheel motors front-drive electric vehicles with single motor failure, an electromechanical composite brake control method based on the normal working motor and the electromechanical brake systems is proposed. First, the electromechanical brake system model is established and the brake characteristics is verified by bench test. Then, based on the electric vehicle model and the in-wheel motors model that has been verified by a vehicle test, the instability mechanism of the vehicle with single motor failure is analyzed. Next, taking the yaw rate and the side-slip angle as the state variables, an in-loop controller based on model predictive control theory is designed; taking the yaw angle as the state variable, an outer-loop controller based on fuzzy proportional integral derivative control theory is designed. Finally, the expected stability control is achieved by the distribution of four-wheel brake torque. According to the research, compared with the simple drive motor torque following and motor regenerative brake control, the electromechanical composite brake control can enable the vehicle to offset the effects of instability torque more quickly, so that the vehicle can follow the expected motion trajectory basically and improve the vehicle stability.

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Mode Switching and Consistency Control for Electric-Hydraulic Hybrid Steering System

Luan,

Zhao,

Wang

2024

Automot. Innov.

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Driver Model-Based Fault-Tolerant Control of Independent Driving Electric Vehicle Suffering Steering Failure

Cited by 5 publications

References 21 publications

Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Electromechanical composite brake control for two in-wheel motors drive electric vehicle with single motor failure

Mode Switching and Consistency Control for Electric-Hydraulic Hybrid Steering System

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