Unified Brake Service by a Hierarchical Controller for Active Deceleration Control in an Electric and Automated Vehicle

Nie, Yu-liang; Liu, Yahui; Cheng, Shuo; Mei, Mingming; Xiao, Luo

doi:10.3390/en10122052

Cited by 6 publications

(5 citation statements)

References 29 publications

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“…The way to implement the desired wheel pressure is to adjust the duty cycle of solenoid value and pump speed. 2 Pressure control of TCS only needs to consider the increment rate of wheel pressure. The relationship among increment rate, backpressure and pump duty cycle is presented in Figure 10.…”

Section: Torque Control Of Tcsmentioning

confidence: 99%

“…What is more, some have studied the stability of the automated vehicle during the process of vehicle braking. 2 While when an autonomous vehicle runs straightly on the snow and ice road or drives with large acceleration, its tire could be easy to enter the large slip region, which causes the loss of vehicle longitudinal dynamic stability. The above-mentioned issue of autonomous vehicles needs to be dealt with urgently.…”

Section: Introductionmentioning

confidence: 99%

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A novel coupling strategy for automated vehicle’s longitudinal dynamic stability

Cheng

Mei

Guo

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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The autonomous vehicle has been developed widely, and attracted much attention of global automotive industry. Wherein, longitudinal dynamics control is one of the most crucial issues of autonomous vehicles. The throttle-by-wire (TBW) control could implement the acceleration command through adjusting the throttle opening, thus control the driving torque of the fuel autonomous vehicle. However, an automated vehicle controlled by traditional TBW in low-friction road conditions could reach large slip ratio region, which could adversely cause the loss of vehicle longitudinal dynamic stability. To tackle the mentioned issues, this paper proposes an adaptive sliding-mode control (SMC) algorithm to optimize tire slip speed of the automated vehicle. When the intervention conditions of active acceleration are satisfied, the TBW can take over the throttle opening control instead of the driver. Firstly, the SMC can calculate an intervention of the effective torque input based on tire torque balance dynamics. Moreover, a traction control system (TCS) and TBW coupling strategy based on the logic threshold method is put forward to response the optimum slip speed curve. Thus, during the vehicle starting process, a three-layer control strategy consisting of TBW, torque control, and pressure control of TCS is involved. Finally, real-car snow and ice road tests are carried out, and experimental results demonstrate great performance of the proposed strategy in complicated low-friction road.

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Section: Torque Control Of Tcsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel coupling strategy for automated vehicle’s longitudinal dynamic stability

Cheng

Mei

Guo

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Ref. [19] introduces the longitudinal acceleration test of a city bus during rapid acceleration and braking. The results show that the road condition and the type of road surface have a significant influence on the longitudinal acceleration; in particular, the maximum deceleration recorded in the urban bus and bus test is much lower than that recorded in a sudden braking maneuver.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System

Li,

Ma,

Jiang

2024

Sensors

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It is urgent for automated electric transportation vehicles in coal mines to have the ability of self-adaptive tracking target constant deceleration to ensure stable and safe braking effects in long underground roadways. However, the current braking control system of underground electric trackless rubber-tired vehicles (UETRVs) still adopts multi-level constant braking torque control, which cannot achieve target deceleration closed-loop control. To overcome the disadvantages of lower safety and comfort, and the non-precise stopping distance, this article describes the architecture and working principle of constant deceleration braking systems with an electro-mechanical braking actuator. Then, a deceleration closed-loop control algorithm based on fuzzy neural network PID is proposed and simulated in Matlab/Simulink. Finally, an actual brake control unit (BCU) is built and tested in a real industrial field setting. The test illustrates the feasibility of this constant deceleration control algorithm, which can achieve constant decelerations within a very short time and maintain a constant value of −2.5 m/s2 within a deviation of ±0.1 m/s2, compared with the deviation of 0.11 m/s2 of fuzzy PID and the deviation of 0.13 m/s2 of classic PID. This BCU can provide electric and automated mine vehicles with active and smooth deceleration performance, which improves the level of electrification and automation for mine transport machinery.

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“…In autonomous driving, a hierarchical control system is often employed to manage complex scenarios [26][27][28][29]. This type of system breaks down the overall task into smaller subtasks, each managed by a separate controller.…”

Section: Introductionmentioning

confidence: 99%

An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control

Xu,

Wang,

et al. 2024

Machines

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Advanced driving algorithms, control strategies, and their optimization in self-driving vehicles in various scenarios are hotspots in current research; 4WS-4WD (four-wheel steering and four-wheel drive) is another hotspot in the study of new concept models; and the nonlinear dynamic characteristics of self-driving vehicles (AVs) are prominent in the fast cornering mode, which leads to a significant reduction in the accuracy and stability of trajectory tracking. Based on these research backgrounds, this paper proposes a control strategy optimization idea based on the 4WS4WD vehicle and its optimization model. The main content includes the establishment of a 3D vehicle model that takes into account vehicle load transfer and position change, and the establishment of a hierarchical control strategy based on the optimized NMPC and 4WS4WD models. The controller consists of two parts: an upper tracking controller based on the new vehicle model and NMPC, and a lower decoupled controller. The tracking control effect of the algorithmic control strategy based on the model and controller is validated in the high-speed serpentine motion mode and double-shift linear motion mode on the joint simulation platform of Car Sim and Simulink.

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Unified Brake Service by a Hierarchical Controller for Active Deceleration Control in an Electric and Automated Vehicle

Cited by 6 publications

References 29 publications

A novel coupling strategy for automated vehicle’s longitudinal dynamic stability

A novel coupling strategy for automated vehicle’s longitudinal dynamic stability

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System

An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control

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