Lane Keeping Control of Autonomous Vehicles With Prescribed Performance Considering the Rollover Prevention and Input Saturation

Hu, Chuan; Wang, Zhenfeng; Qin, Yechen; Huang, Yanjun; Wang, Jinxiang; Wang, Rongrong

doi:10.1109/tits.2019.2924937

Cited by 121 publications

(72 citation statements)

References 38 publications

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“…From the perspective of system configuration, EVs can be categorized into two distinct types: centrally driven type and distributed-drive type. Compared with the centrally driven layout, the latter case incorporates an electric motor in the hub of a wheel for direct drive, and it provides numerous advantages, including more available chassis space, prompt system response and high energy efficiency [5][6][7][8][9]. In this context, distributed-drive EVs are attracting more attention from both academia and automobile industry and are also considered as the direction of current and future EVs.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive Analysis and Optimization of Dynamic Vibration-Absorbing Structures for Electric Vehicles Driven by In-Wheel Motors

et al. 2019

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Distributed-drive electric vehicles (EVs) replace internal combustion engine with multiple motors, and the novel configuration results in new dynamic-related issues. This paper studies the coupling effects between the parameters and responses of dynamic vibration-absorbing structures (DVAS) for EVs driven by in-wheel motors (IWM). Firstly, a DVAS-based quarter suspension model is developed for distributed-drive EVs, from which nine parameters and five responses are selected for the coupling effect analysis. A two-stage global sensitivity analysis is then utilized to investigate the effect of each parameter on the responses. The control of the system is then converted into a multiobjective optimization problem with the defined system parameters being the optimization variables, and three dynamic limitations regarding both motor and suspension subsystems are taken as the constraints. A particle swarm optimization approach is then used to either improve ride comfort or mitigate IWM vibration, and two optimized parameter sets for these two objects are provided at last. Simulation results provide in-depth conclusions for the coupling effects between parameters and responses, as well as a guideline on how to design system parameters for contradictory objectives. It can be concluded that either passenger comfort or motor lifespan can be reduced up to 36% and 15% by properly changing the IWM suspension system parameters.This section introduces the two-step GSA and analyzes the effects each parameter has on the system response characteristics.

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Section: Introductionmentioning

confidence: 99%

Comprehensive Analysis and Optimization of Dynamic Vibration-Absorbing Structures for Electric Vehicles Driven by In-Wheel Motors

et al. 2019

Self Cite

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“…when the vehicle is under high-speed maneuvering limit conditions, the vehicle dynamics are nonlinear, and the error of this type of methods is large. [49,93,119] Vehicle Model-Based Observation Simple structure and easy for engineering application.…”

Section: Observation Methods Advantages Disadvantages Referencementioning

confidence: 99%

Control Strategies on Path Tracking for Autonomous Vehicle: State of the Art and Future Challenges

Yao

Tian

Wang³

et al. 2020

IEEE Access

123

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Autonomous vehicle technology aims to improve driving safety, driving comfort, and its economy, as well as reduce traffic accident rate. As the basic part of autonomous vehicle motion control module, path tracking aims to follow the reference path accurately, ensure vehicle stability and satisfy the robust performance of the control system. This paper introduces the representative control strategies, robust control strategies and parameter observation-based control strategies on path tracking for autonomous vehicle. Furthermore, the implementations and disadvantages are summarized. Most importantly, the critical review in this paper provides a list and discussion of the remaining challenges and unsolved problems on path tracking control.

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“…With the rapid increase in the number of road vehicles, the problems of traffic congestion, exhaust emissions and safety are becoming more and more serious in big cities and/or urban areas [1,2]. Intelligent transportation systems (ITS) technology is one of the potential solutions to lessen these problems [3][4][5][6]. Benefiting from the development of the wireless communication technology, the intelligent connected vehicle system is one of such ITS that can potentially reduce the risk of accidents and increase traffic throughput by resorting the Internet of Vehicles (IoV), e.g., vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-road (V2R) communication, etc.…”

Section: Introductionmentioning

confidence: 99%

Secure State Estimation for Motion Monitoring of Intelligent Connected Vehicle Systems

Song

Lou

Zhu

et al. 2020

Sensors

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This paper considers the state estimation problem of intelligent connected vehicle systems under the false data injection attack in wireless monitoring networks. We propose a new secure state estimation method to reconstruct the motion states of the connected vehicles equipped with cooperative adaptive cruise control (CACC) systems. First, the set of CACC models combined with Proportion-Differentiation (PD) controllers are used to represent the longitudinal dynamics of the intelligent connected vehicle systems. Then the notion of sparseness is employed to model the false data injection attack of the wireless networks of the monitoring platform. According to the corrupted data of the vehicles’ states, the compressed sensing principle is used to describe the secure state estimation problem of the connected vehicles. Moreover, the L1 norm optimization problem is solved to reconstruct the motion states of the vehicles based on the orthogonaldecomposition. Finally, the simulation experiments verify that the proposed method can effectively reconstruct the motion states of vehicles for remote monitoring of the intelligent connected vehicle system.

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Lane Keeping Control of Autonomous Vehicles With Prescribed Performance Considering the Rollover Prevention and Input Saturation

Cited by 121 publications

References 38 publications

Comprehensive Analysis and Optimization of Dynamic Vibration-Absorbing Structures for Electric Vehicles Driven by In-Wheel Motors

Comprehensive Analysis and Optimization of Dynamic Vibration-Absorbing Structures for Electric Vehicles Driven by In-Wheel Motors

Control Strategies on Path Tracking for Autonomous Vehicle: State of the Art and Future Challenges

Secure State Estimation for Motion Monitoring of Intelligent Connected Vehicle Systems

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