Lateral Collision Avoidance Robust Control of Electric Vehicles Combining a Lane-Changing Model Based on Vehicle Edge Turning Trajectory and a Vehicle Semi-Uncertainty Dynamic Model

Lian, Yufeng; Wang, Xiaoyu; Tian, Yantao; Liu, Keping

doi:10.1007/s12239-018-0032-1

Cited by 15 publications

(15 citation statements)

References 14 publications

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“…Combined simplified model (equation ( 34)) with linear fractional transformation of perturbation parameters (equation (36)), the simplified model with uncertain parameters can be obtained, see the Figure 7 in detail. [33][34][35] From Figure 7, the perturbation parameter equations are as follows.…”

Section: Simplified Model With Uncertain Parametersmentioning

confidence: 99%

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Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Nie

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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In the paper, a novel framework for the control system of lateral obstacle avoidance (LOA), which is based on dynamic early warning for intelligent vehicles shared-driven by people and vehicles (IVSDPVs), is presented to perform LOA in dynamic conditions (e.g. the speed of obstacle vehicles changes). Firstly, to achieve the accurate warning of IVSDPVs and adjust that with dynamic intervention of the driver in dynamic conditions, a multi-level early warning algorithm based on fusion and complementarity of the critical safe distance and reciprocal of collision time is proposed. Moreover, the critical safe distance is obtained using a combination of longitudinal with lateral directions. Secondly, if the driver does not respond until the “Critical” level warning, the IVSDPVs is automatically taken over by the control strategy to conduct active LOA control. Thirdly, to overcome the parameters perturbation, that is, mass, cornering stiffness, and signal disturb, the robust control strategy is presented to achieve accurate trajectory tracking of LOA. Finally, the effectiveness of the proposed control strategy is evaluated by testing on the Simulink/Trucksim platform to demonstrate the controller’s capability in obtaining accurate early warning and achieving LOA across various working conditions.

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Section: Simplified Model With Uncertain Parametersmentioning

confidence: 99%

“…where, L = b r u m1 u m2 u I u f1 u f2 u r1 u r1 d M Z , The parameters perturbation of the vehicle dynamic model can be represented by an unknown diagonal matrix, see equation (39). 33,34…”

Section: Simplified Model With Uncertain Parametersmentioning

confidence: 99%

Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Nie

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…To handle the uncertainties of the cornering stiffness of tire, Arogeti and Berman 47 designed a robust-based controller to handle the tire lateral skid of path control by LMI approaches. Lian et al 48 proposed an H-infinity robust controller to deal with the parametric uncertainties resulting from perturbation and wind based on a semiuncertainty vehicle dynamics model. Xu et al 49 proposed a two-layer robust overtaking control framework for the autonomous electric ground vehicle based on the input-to-state stability property.…”

Section: Review Of the Overall Design And Dynamics Control Of The Ugvmentioning

confidence: 99%

A review for design and dynamics control of unmanned ground vehicle

Chen

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The unmanned ground vehicle is supposed to replace humans for various applications in both civilian and military area, including transport, delivery, shuttle, clean, patrol, scout, and battle. It has been widely expected that the unmanned ground vehicle will greatly change the human life and the land combat form in the near future. The key techniques of the unmanned ground vehicle are environment perception, motion planning, chassis dynamics control, and cloud control. In this paper, the state of the art of the development of the military and civilian unmanned ground vehicle is introduced, and many classic ones are reviewed in detail in different application categories. The overall design and X-by-wire dynamics control technique of the civilian and military unmanned ground vehicle are reviewed. The X-by-wire technique plays an important role in improving the maneuverability, mobility, and handling performance of the unmanned ground vehicle. Therefore, the chassis dynamics control is considered as a core technique of the X-by-wire unmanned ground vehicle. In addition, as a research trend of the unmanned ground vehicle dynamics control, the cloud-based dynamics control approach of future unmanned ground vehicle based on big data and cloud control techniques is described according to the authors’ work.

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“…Lian Yufeng presented a new control scheme for lateral collision avoidance (CA) systems to improve the safety of four-in-wheel-motor-driven electric vehicles (FIWMD-EVs) [18] .…”

Section: Introductionmentioning

confidence: 99%

Estimated Models on Lane Use Distribution near Bus Stop and Entrance Location of the Expressway

2022

jecet

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Longitudinal traffic dynamics helps highway operators to effectively manage traffic flow under various situations. This study particularly focuses on the changes in lane use distribution due to the combined effect of a bus stop and an entrance point. Depending on a bus stop location in the upstream or downstream of an entrance, two cases are investigated. A series of models is developed to analyze the relationship between lane use distribution and traffic density, bus arrival rate, merging volume. Date collected from other two locations is used to verify the developed models of lane use distribution on two cases.A comparison of estimated and observed values on the distribution is carried out. Findings show that the suggested models have high accuracy and reliability. The models could also predict lane use distributions of individual lanes that can be used to monitor traffic use conditions under proposed traffic control strategies. The results of study can be applied to traffic control optimization at locations near bus stops and entrance points on urban expressways.

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Lateral Collision Avoidance Robust Control of Electric Vehicles Combining a Lane-Changing Model Based on Vehicle Edge Turning Trajectory and a Vehicle Semi-Uncertainty Dynamic Model

Cited by 15 publications

References 14 publications

Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

A review for design and dynamics control of unmanned ground vehicle

Estimated Models on Lane Use Distribution near Bus Stop and Entrance Location of the Expressway

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