Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle

Abstract

This article presents the alternative lane keeping control strategy with direct yaw moment control (DYC) that utilizes the transverse driving torque distribution. With the sophisticated structure of today's electric vehicle, the small-size motor can be placed into each driving wheel so that the DYC input can be easily and precisely achieved by controlling the in-wheel-motors independently. The information of road position is acquired by vision system via CCD camera and on-board image processing system. As a feature of the proposed system, the lateral deviation detected by CCD camera is converted into the desired yaw rate for tracing the desired lane. Then, the yaw moment control input is theoretically determined to achieve the desired yaw rate from the viewpoint of vehicle dynamics. This article presents the theoretical analysis of lane keeping control characteristics using linear vehicle model on planar motion, and experimental study using micro-scale electric vehicle to verify the effectiveness of the proposed strategy.

Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

“…For some previous researches, [6][7][8] the handling performance control strategy was only analysed by a vehicle body dynamic model with tyre mechanical properties to investigate the vehicle handling behaviour. Apparently, for a hybrid vehicle, the handling performance control system has a great influence on the performance of electricity elements, such as State of Charge (SOC), which should also be focused on.…”

“…[1][2][3][4] Among different kinds of configurations, the handling performance of HEVs equipped with independent motors can be further improved because of the direct yaw control (DYC). [5][6][7][8] Based on above advantages, the technology of hybrid electric distributed motor drive has been used in armoured vehicle area because of the great demand of operational radius and mobility.…”

Piecewise affine control for lane departure avoidance

“…The conditions of positive definiteness and negative first derivative along the system trajectories (24) can be rewritten using the S-procedure [30] and the ellipsoidal cell boundaries (17). They are expressed as…”

Improved adaptive lane‐keeping control for four‐wheel steering vehicles without lateral velocity measurements

“…Recently, automatic lane-keeping control for vehicles has become an attractive research area, and many lane-keeping controllers [1][2][3][4][5][6][7][8][9] have been developed. In these controllers, only front-wheel steering is used to control the lateral behaviour of vehicles, but it is very difficult to achieve good lane-keeping performance using only one control input.…”