Trajectory tracking control based on the dual-motor autonomous steering system with time-varying network-induced time delay

Xu, Xing; Liu, Zhenyu; Wang, Feng; Xie, Ju; Su, Pengwei

doi:10.1016/j.conengprac.2021.104915

Cited by 13 publications

(1 citation statement)

References 25 publications

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“…At the same time, the magnetic powder brake offers steering resistance torque for closed loop. 33 In the manual driving mode, dual lane change conditions with speed of 30 km/h and 100 km/h are selected to validate the advantages of the varying steering ratio at different speed with a road adhesion coefficient of 0.8. Figure 13 shows that the peak lateral error of the vehicle with the variable ratio optimized by the PSO algorithm at lower speed is 0.97 m, a 20% reduction compared to 1.22 m with the settled transmission ratio when the vehicle speed is 30 km/h.…”

Section: Hil Test Resultsmentioning

confidence: 99%

Variable transmission ratio design of a steer-by-wire system for intelligent vehicles

Liu

Xie

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Intelligent vehicles require the ability to switch freely between manual and automatic driving modes, which opens up more possibilities for steer-by-wire. Among them, the design of transmission ratio for both driving modes can improve the steering performance of vehicle. In the manual driving mode, this paper optimizes the yaw rate gain upon the particle swarm optimization (PSO) algorithm and designs a variable steering transmission ratio, which can reduce the driver’s burden and improve the vehicle’s handling stability. Further, the steering wheel angular rate information and fuzzy control are used to design the high-speed transmission ratio to ensure the safety of the vehicle in high-speed emergency situations. In the automatic driving mode, the transmission ratio values at various vehicle speeds are optimized offline based on the PSO algorithm, and a variable transmission ratio curve is designed to enhance the trajectory tracking ability and the vehicle stability. Finally, the hardware-in-the-loop test results show that the variable transmission ratio designed in the manual driving mode reduces the burden of the driver at low speed and improves the vehicle stability at high speed, especially in emergency situations. It also proves that the optimized design of variable ratio in the automatic driving mode promotes the path-following ability and the vehicle stability.

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Section: Hil Test Resultsmentioning

confidence: 99%