Path tracking coordinated control strategy for autonomous four in-wheel-motor independent-drive vehicles with consideration of lateral stability

Abstract

How to enhance and ensure the vehicle yaw/lateral stability and safety performance is a crucial and worthy research problem for the autonomous four in-wheel-motor independent-drive vehicle. In this paper, a hierarchical path tracking control strategy coordinated with the direct yaw moment control for autonomous four in-wheel-motor independent-drive vehicle is proposed with consideration of the lateral stability. In the upper controller, a novel model predictive control method based on the vehicle 7-degree-of-freedom dynamic model is presented to obtain the front wheel steering angle and two virtual generalized forces, the traction and yaw moment. A dynamic adjustment method of target weight based on variance adjustment factor is proposed to realize multi-objective cooperative control of maneuverability, path tracking accuracy, and yaw stability. Moreover, the tire stability margin and its standard deviation are put forward in the objective function of the lower optimal generalized force distributor, making full use of the road adhesion of each wheel. Carsim–Simulink joint simulation results illustrate that the proposed coordinated control strategy could prosper the multi-objective coordinated control. In addition, the path tracking coordinated control strategy could further improve the lateral stability and safety of the vehicle compared with the mere path tracking control strategy, when autonomous four in-wheel-motor independent-drive vehicle is placed under extremely dangerous road conditions.

Keywords

In-wheel motor autonomous electric vehicle path tracking model predictive control lateral stability

Get full access to this article

View all access options for this article.

References

Tang

Yang

, et al. Novel torsional vibration modelingandassessmentofapower-splithybridelectricvehicle equipped with a dual mass flywheel. IEEE Trans Veh Technol 2018; 67: 1990–2000.

Wang

Huang

López

, et al. Fuzzy adaptive-equivalent consumption minimization strategy for a parallel hybrid electric vehicle. IEEE Access 2019; 7: 133290–133303.

Wang

Song

. Fuel consumption optimization for smart hybrid electric vehicle during a car-following process. Mech Syst Signal Process 2017; 87: 17–29.

Wang

Liu

Wang

, et al. Adaptive fuzzy iterative control strategy for the wet-clutch filling of automatic transmission. Mech Syst Signal Process 2019; 130: 164–182.

Wang

, et al. Relaxed static stability for four-wheel independently actuated ground vehicle. Mech Syst Signal Process 2019; 127: 35–49.

Zhao

Chen

, et al. Stability control of electric vehicles with in-wheel motors by considering tire slip energy. Mech Syst Signal Process 2019; 118: 340–359.

Guo

Luo

, et al. Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation. Mech Syst Signal Process 2018; 105: 183–199.

Guo

Yugong

. Coordinated control of autonomous four wheel drive electric vehicles for platooning and trajectory tracking using a hierarchical architecture. J Dyn Sys Meas Control 2015; 137: 101001.

Xiang

. An AWID and AWIS X-by-wire UGV: design and hierarchical chassis dynamics control. IEEE Trans Intell Transp Syst 2018; 99: 1–13.

10.

Xiang

. Robust control in diagonal move steer mode and experiment on an X-by-wire UGV. IEEE/ASME Trans Mechatron 2019; 24: 572–584.

11.

Wang

Yan

, et al. Output constraint control on path following of four-wheel independently actuated autonomous ground vehicles. IEEE Trans Veh Tech 2016; 65: 4033–4043.

12.

Zhang

Zhu

. Autonomous path tracking control of intelligent electric vehicles based on lane detection and optimal preview method. Expert Syst Appl 2019; 121: 38–48.

13.

Chen

, et al. Passive fault-tolerant path following control of autonomous distributed drive electric vehicle considering steering system fault. Mech Syst Signal Process 2019; 123: 298–315.

14.

Guo

Luo

. An adaptive hierarchical trajectory following control approach of autonomous four-wheel independent drive electric vehicles. IEEE Trans Intell Transp Syst 2017; 19: 2482–2492.

15.

Mashadi

Ahmadizadeh

Majidi

, et al. Integrated robust controller for vehicle path following. Multibody Syst Dyn 2015; 33: 207–228.

16.

Guo

Luo

. Robust gain-scheduling automatic steering control of unmanned ground vehicles under velocity-varying motion. Vehicle Syst Dyn 2019; 57: 595–616.

17.

Wang

Jing

, et al. Robust H∞ path following control for autonomous ground vehicles with delay and data dropout. IEEE Trans Intell Transp Syst 2016; 17: 2042–2050.

18.

Wang

Zhang

Wang

, et al. A gain-scheduling driver assistance trajectory-following algorithm considering different driver steering characteristics. IEEE Trans Intell Transp Syst 2016; 18: 1097–1108.

19.

Barbarisi

Palmieri

Scala

, et al. LTV-MPC for yaw rate control and side slip control with dynamically constrained differential braking. Eur J Control 2009; 15: 468–479.

20.

Del Re

Allgöwer

Glielmo

, et al. Automotive model predictive control: models, methods and applications (Vol. 402). Berlin: Springer, 2010.

21.

Falcone

Borrelli

Asgari

, et al. Predictive active steering control for autonomous vehicle systems. IEEE Trans Contr Syst Tech 2007; 15: 566–580.

22.

Chang

Gordon

. A flexible hierarchical model-based control methodology for vehicle active safety systems. Vehicle Syst Dyn 2008; 46: 63–75.

23.

Katriniok

Abel

. LTV-MPC approach for lateral vehicle guidance by front steering at the limits of vehicle dynamics. In: 50th IEEE conference on decision and control and European control conference, Orlando, FL, 12–15 December 2011. New York: IEEE.

24.

Cheng

Liu

, et al. A human-machine-cooperative-driving controller based on AFS and DYC for vehicle dynamic stability. Energies 2017; 10: 1737.

25.

Cheng

Guo

, et al. Longitudinal collision avoidance and lateral stability adaptive control system based on MPC of autonomous vehicles. IEEE Trans Intell Transp Syst 2020; 21: 2376–2385.

26.

Sun

Peng

Zhan

, et al. A fast integrated planning and control framework for autonomous driving via imitation learning. In: ASME 2018 dynamic systems and control conference, 2017. New York: American Society of Mechanical Engineers Digital Collection, https://arxiv.org/pdf/1707.02515.pdf

27.

Peng

Wang

, et al. Path tracking and direct yaw moment coordinated control based on robust MPC with the finite time horizon for autonomous independent-drive vehicles. IEEE Trans Veh Tech 2020; 69: 6053–6066.

28.

Peng

Wang

Xiang

, et al. Torque coordinated control of four in-wheel motor independent-drive vehicles with consideration of the safety and economy. IEEE Trans Veh Tech 2019; 68: 9604–9618.

29.

Cheng

Mei

, et al. Multiple-objective adaptive cruise control system integrated with DYC. IEEE Trans Veh Tech 2019; 68: 4550–4559.

30.

Changle

. Envelope control for four-wheel independently actuated autonomous ground vehicle through AFS/DYC integrated control. IEEE Trans Veh Tech 2017; 66: 9712–9726.

31.

Jing

Jia

Liu

. Multi-objective optimal control allocation for an over-actuated electric vehicle. IEEE Access 2018; 6: 4824–4833.