Switched Control for Reducing Impact of Vertical Forces on Road and Heavy-Vehicle Rollover Avoidance

Imine, Hocine; Djemaï, Mohamed

doi:10.1109/tvt.2015.2470090

Cited by 25 publications

(9 citation statements)

References 26 publications

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“…In other words, the proposed control strategy has stabilized the path-following errors and the roll angle to zero [then the vehicle states are bounded according to (1)], which prevents the vehicle from entering the nonlinear region. This control strategy has been widely applied in previous research [46], [47].…”

Section: Problem Formulationmentioning

confidence: 99%

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Gao

Guo

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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Section: Problem Formulationmentioning

confidence: 99%

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Gao

Guo

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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“…where ℓ 1 and ℓ 2 are positive constants chosen to satisfy that ℓ 1 = 1/L, ℓ 2 > v x /L, where L is the lookahead distance [22]. In the Section III the vehicle states including β will be estimated with an EKF, thenβ can be reliably obtained by several effective observers or differentiators [23].…”

Section: A Amended Modeling Of Path-tracking Kinematicsmentioning

confidence: 99%

MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation

Wang

Taghavifar

et al. 2019

IEEE Trans. Veh. Technol.

149

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This paper investigates the path-tracking control issue for autonomous ground vehicles with the integral sliding mode control (ISMC) considering the transient performance improvement. The path-tracking control is converted into the yaw stabilization problem, where the sideslip-angle compensation is adopted to reduce the steady-state errors, and then the yaw-rate reference is generated for the path-tracking purpose. The lateral velocity and roll angle are estimated with the measurement of the yaw rate and roll rate. Three contributions have been made in this paper: 1) To enhance the estimation accuracy for the vehicle states in the presence of the parametric uncertainties caused by the lateral and roll dynamics, a robust extended Kalman filter is proposed based on the minimum model error algorithm; 2) An improved adaptive radial basis function neural network (RBFNN) considering the approximation error adaptation is developed to compensate for the uncertainties caused by the vertical motion;3) The RBFNN and composite nonlinear feedback (CNF)-based ISMC is developed to achieve the yaw stabilization and enhance the transient tracking performance considering the input saturation of the front steering angle. The overall stability is proved with Lyapunov function. Finally, the superiority of the developed control strategy is verified by comparing with the traditional CNF with high-fidelity CarSim-Matlab simulations.Index Terms-Path tracking, autonomous vehicles, sliding mode control, extended Kalman filter, neural network. I. INTRODUCTIONA UTONOMOUS ground vehicles (AGVs) have attracted large amounts of attention and investment in both the automotive academia and industry over the past decade, due to the gradually increasing demands for the better safety and efficiency in the mobility [1]-[3]. The emergence of AGVs is intended for improving the transportation efficiency, utilization, and most importantly, road security. Rapid advancement in the vehicular cyber-physical system (CPS) and

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“…As a common index of roll evaluation, the LTR is defined as the ratio of the difference between the vertical load on the left and right sides of the tire to the vehicle's total mass. It can be expressed as 20…”

Section: Ltrmentioning

confidence: 99%

Rollover prevention and path following control of integrated steering and braking systems

Qian

Wang

Zhao

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In the process of preventing rollover, the expected path of the driver to achieve better anti-rollover effect is often ignored, which may lead to the deviation of vehicle from the original path. Aiming at this problem, this paper considers both anti-rollover and path tracking performance, and proposes an integrated controller based on active steering and active braking. On the one hand, it can reduce the lateral acceleration and rollover risk by restraining the front wheel angle as tracking the driver’s expected path. On the other hand, through reasonably distributing the braking force of the four tires, it can offset the additional yaw moment caused by uneven distribution and reduce the impact on vehicle trajectory as the risk of rollover occurs. In addition, an improved index of rollover is put forward to give early warning to the future moment and to prevent rollover accident effectively. Simulation and hardware-in-the-loop test results show that the proposed integrated controller can ensure that the vehicle tracks the expected path well and achieves rollover prevention effectively.

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Switched Control for Reducing Impact of Vertical Forces on Road and Heavy-Vehicle Rollover Avoidance

Cited by 25 publications

References 26 publications

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation

Rollover prevention and path following control of integrated steering and braking systems

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