Vehicle lateral control in the presence of uncertainty for lane change maneuver using adaptive sliding mode control with fuzzy boundary layer

Norouzi, Armin; Kazemi, Reza; Azadi, Shahram

doi:10.1177/0959651817733222

Cited by 51 publications

(55 citation statements)

References 62 publications

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“…Do not brake A sliding mode control algorithm is designed because of its robustness [35], usually designed in two steps. The first step is to design a sliding surface, and the second step is to design a control law, which drives or keeps the states to the designed sliding manifold [36].…”

Section: Elsementioning

confidence: 99%

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Zhang¹,

Zong²,

Chen³

et al. 2019

Chin. J. Mech. Eng.

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Differential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both differential braking and active steering. This research proposes an integrated control system that can simultaneously invoke differential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.A) l i−1 − l v > 0, B bli ≥ 0, A bli < 0, δ i > 0 B) l i−1 − l v > 0, B bli > 0, A bli < 0, δ i = 0 C) l i−1 − l v = 0, δ i = 0 a4 B bri = 0, A bri = 0 (Cannot use this wheel to brake) B bli = 0, A bli = 0 (Cannot use this wheel to brake)

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Section: Elsementioning

confidence: 99%

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Zhang¹,

Zong²,

Chen³

et al. 2019

Chin. J. Mech. Eng.

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“…Considering factors such as stability, comfort and optimal fuel consumption, each path has advantages and disadvantages. Norouzi et al have investigated some functions for the most optimum path . Their results indicated that using a fifth order linear function leads to the best performance.…”

Section: Controlmentioning

confidence: 99%

Robust control of connected vehicles via V2V communication

Shafiei

Kamalirad

Taghavipour

2019

Asian Journal of Control

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This paper introduces a robust controller for connected vehicles which are communicating through dedicated short-range communication (DSRC) protocol to avoid collision and improve safety. By a comprehensive analysis on both longitudinal and lateral dynamics of the vehicles, the controller covers a wide range of collision avoidance scenarios, such as: Intersection Movement Assistant (IMA), Automatic Emergency Brake (AEB) and Lane Change Warning (LCW). By implementing an advanced Sliding Mode Controller (SMC), the effect of uncertainties will be mitigated for a variety of path plans. It turns out that the proposed control scheme can robustly improve the safety. Finally, we optimize the performance of vehicles in tracking the paths by an MPC controller. KEYWORDS automatic emergency brake (AEB), connected vehicles (CV), intersection movement assist (IMA), lane change assist (LCA), sliding mode controller (SMC), V2V communication

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“…The notations y and y la are used to refer to the real values for the lateral and look-ahead lateral position. Finally, these equations can be summed up into equation (6).…”

Section: Vehicle and Driver Modelling Adaptive Fuzzy Vehicle Modelmentioning

confidence: 99%

“…where As seen in equations (6) and 7, variable k ð Þ consist of the past variables (lateral positions) and functions of past variables (). However, consist only of the consequent parameters.…”

Section: Vehicle and Driver Modelling Adaptive Fuzzy Vehicle Modelmentioning

confidence: 99%

Adaptive comfort-oriented vehicle lateral control with online controller adjustments according to driver behaviour and look-ahead dynamics

Moghaddam

Ghaffari

Khodayari

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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This paper presents a comfort-oriented adaptive fuzzy-model predictive control strategy to control the lateral motion of a vehicle with the steering angle as the input while preventing sudden changes and unwanted motions. This is reached by utilizing three main contributions: an adaptive fuzzy model based on look-ahead dynamics, limiting the controller to the acceptable range of states to the driver and introducing an adjustment factor to the controller's cost function. Using adaptive-fuzzy models to describe the vehicle lateral dynamics and driver behaviour for the purpose of the control-oriented model enables this method of control to advantage from the low computational effort of the models while maintaining the accuracy and adaptive properties which are crucial to the performance and robustness of the system during the manoeuvres. Also, the characteristics of each driver's behaviour modify the controller towards a more comfort-oriented drive with means of the cost function and constraints. The comparative simulation indicates that the developed method leads to a comfort-oriented drive, in that the vehicle's states stay within the limits of the driver behaviour range, the fluctuations are insignificant and the control strategy is more accurate than previous methods.

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Vehicle lateral control in the presence of uncertainty for lane change maneuver using adaptive sliding mode control with fuzzy boundary layer

Cited by 51 publications

References 62 publications

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Robust control of connected vehicles via V2V communication

Adaptive comfort-oriented vehicle lateral control with online controller adjustments according to driver behaviour and look-ahead dynamics

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