Multiple-Objective Adaptive Cruise Control System Integrated With DYC

Cheng, Shuo; Li, Liang; Mei, Mingming; Nie, Yu-liang; Zhao, Lin

doi:10.1109/tvt.2019.2905858

Cited by 68 publications

(45 citation statements)

References 30 publications

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“…In order to clearly express the working states of the vehicle and improve its performance in different states, the working region is divided into four parts as shown in Figure 3-namely, a safety region in part I, a defective safety region in part II, an unstable region in part III, and a dangerous region in part IV. The division of the four working regions and boundaries is based on the dynamic characteristics of the vehicle [23] and calibrated by simulation tests in specific conditions [28]. To visually express the vehicle states in different working regions, the plotting scale is adjusted to make it an ideal circle.…”

Section: Division Of Control Modesmentioning

confidence: 99%

“…Sideslip angle and yaw rate are two important parameters that can represent the lateral stability of a vehicle [27]. Therefore, a coefficient weighting method [28] is used to construct the dangerous factor (DF), which can denote the danger level of the vehicle and is defined based on the weighting of the two parameters β, ω. DF can be represented as follows:…”

Section: Division Of Control Modesmentioning

confidence: 99%

See 1 more Smart Citation

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: Division Of Control Modesmentioning

confidence: 99%

Section: Division Of Control Modesmentioning

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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“…under a set of operation constraints [15]. Therefore, the MPC approaches have been widely studied, and applied in the electronic stability control (ESC) [16], the adaptive cruise control (ACC) [17], the path following [18], and the energy management [19] for vehicle systems. However, the MPC-based approaches may cause some computational burdens in finding optimal solutions, and induce accuracy losses when using simplified models in some critical situations [20].…”

Section: Introductionmentioning

confidence: 99%

Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Liang

Zhao

Dong

et al. 2020

IEEE Trans. Veh. Technol.

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Off-road vehicles always experience serious uncertain longitudinal and lateral slips when running on soft and slope terrains, and some parameters of the vehicles, such as the cornering stiffness and the slip of wheels, are always not constants. In this paper, control strategies for the torque of each wheel and the rear-wheel-steering angle are proposed to maintain a stable velocity and approach an ideal reference model for the off-road vehicle by using second-order sliding mode (SOSM) techniques. An observer is constructed to estimate the actual sideslip angle of the vehicle with the consideration of uncertainties and disturbances of the system. Then, with conditions of bounded uncertainties and disturbances, composite super-twisting (ST) controllers combined with a velocity controller are designed to generate the total torque, the differential torque, and the rear-wheel-steering angle. On this basis, the proposed controllers have been verified to lead good robustness for maintaining the stable velocity and approaching the ideal reference model by using an optimal torque allocation controller at a lower layer. In comparison with conventional yaw moment controllers without the rear-wheel-steering control, the proposed controllers are shown to be more effective.

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“…Based on the HCU, a series of regenerative braking energy coordinated control research is carried out [1][2][3]. During the research, it is found that accurate estimation of brake wheel cylinder pressure and pressure linear control are the basis of electric vehicle regenerative braking and ABS control [4][5][6][7]. e target wheel cylinder pressure is calculated by the ABS control algorithm.…”

Section: Introductionmentioning

confidence: 99%

Pressure Estimation and Pressure Control of Hydraulic Control Unit in Electric-Wheel Vehicle

Zhang

Wen-bo

Liu

2020

Mathematical Problems in Engineering

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In order to improve the braking performance and safety performance of electric vehicles driven by a hub motor, the cylinder pressure estimation and pressure control of its hydraulic braking system are studied. In this paper, a mathematical model is established for the solenoid valve, a key component of the hydraulic actuator, and the hydraulic and electrical characteristics of the solenoid valve are studied. A state equation is established for the solenoid valve, and the square root volume Kalman filter (SRCKF) algorithm is used to estimate the solenoid valve spool position. The brake fluid flow and brake wheel cylinder pressure are calculated based on the spool position. Finally, a solenoid valve spool position control algorithm based on sliding mode variable structure algorithm is designed, and the brake pressure in the brake wheel cylinder is controlled by adjusting the spool position. Matlab/Simulink-AMESim software simulation and hardware-in-the-loop were used to verify the algorithm. Simulation results show that the brake cylinder pressure can be estimated accurately, and the pressure control algorithm can accurately follow the control target value.

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Multiple-Objective Adaptive Cruise Control System Integrated With DYC

Cited by 68 publications

References 30 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

Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Pressure Estimation and Pressure Control of Hydraulic Control Unit in Electric-Wheel Vehicle

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