Coordinated Control of Trajectory Tracking and Yaw Stability of Four-Wheel-Independent-Drive Autonomous Electric Vehicles

被引：0
|
作者：
Chen, Shuping [1 ]
Zhao, Zhiguo [1 ]
Zhao, Kun [1 ]
机构：
[1] School of Automotive Studies, Tongji University, Shanghai,201804, China
来源：
Tongji Daxue Xuebao/Journal of Tongji University | 2024年 / 52卷
关键词：
To investigate the multi-objective control problem of trajectory tracking and vehicle stability; a hierarchical coordinated control strategy of trajectory tracking and yaw stability was proposed for four-wheel-independent-drive autonomous electric vehicles. In the upper controller; the linear-time-varying model predictive control（LTV MPC）was employed to generate the desired front road wheel steering angle and yaw moment; and the PID speed control embedded in the model predictive optimization solutions was introduced to generate the desired total driving/braking torque. In the lower controller; the generalized forces from the upper layer were allocated to the four wheels based on quadratic programming. An 8-degree-of-freedom （DOF） vehicle model was used as the prediction model and a high-fidelity 14-DOF vehicle model with longitudinal and lateral combined brush tire model was used as the plant. Numerical simulation results under different speeds; road adhesion coefficients and conditions of whether to consider yaw stability control; demonstrate that the proposed controller possesses good trajectory tracking performance and robustness; which improves the tracking accuracy while ensuring the yaw stability under the limit condition. © 2024 Science Press. All rights reserved;
D O I：
10.11908/j.issn.0253-374x.24713
中图分类号：
学科分类号：
摘要：
引用
收藏
页码：185 / 196
相关论文
共 50 条
  • [1] Study on Coordinated Control of Trajectory Tracking and Yaw Stability for Autonomous Four-wheel-independent-driving Electric Vehicles
    Zhang L.
    Zhao X.
    Wang Z.
    Qiche Gongcheng/Automotive Engineering, 2020, 42 (11): : 1513 - 1521
  • [2] Cooperative Trajectory Tracking and Stability Control with Improved Stability Criterion for Intelligent Four-Wheel-Independent-Drive Electric Vehicles
    Zhang, Lei
    Sun, Liquan
    Ding, Xiaolin
    Wang, Zhenpo
    AUTOMOTIVE INNOVATION, 2025, 8 (01) : 187 - 204
  • [3] Cooperative Trajectory Tracking and Stability Control with Improved Stability Criterion for Intelligent Four-Wheel-Independent-Drive Electric Vehicles
    Zhang, Lei
    Sun, Liquan
    Ding, Xiaolin
    Wang, Zhenpo
    AUTOMOTIVE INNOVATION, 2025,
  • [4] Cooperative Trajectory Tracking and Stability Control with Improved Stability Criterion for Intelligent Four-Wheel-Independent-Drive Electric Vehicles
    Lei Zhang
    Liquan Sun
    Xiaolin Ding
    Zhenpo Wang
    Automotive Innovation, 2025, 8 (1) : 187 - 204
  • [5] Coordinated control scheme of path tracking and yaw stability for four-wheel steering and distributed drive autonomous electric vehicles
    Gu, Xianguang
    He, Jilong
    Jiang, Ping
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2024,
  • [6] Networked Yaw Rate Tracking Control of Four-Wheel-Independent-Drive Electric Vehicle in Steering Process
    Gao, Zifan
    Zhang, Dawei
    Zhu, Shuqian
    Jial, Xinchun
    Zhang, Baolin
    2019 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC), 2019, : 67 - 71
  • [7] Trajectory Tracking Control of Four-Wheel Independent Drive Electric Vehicles
    Wang, Wei
    Jiao, Xiaohong
    Yang, Chao
    Wang, Weida
    2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA), 2020, : 211 - 215
  • [8] Chassis Coordinated Control for Full X-by-Wire Four-Wheel-Independent-Drive Electric Vehicles
    Wang, Zhenpo
    Ding, Xiaolin
    Zhang, Lei
    IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2023, 72 (04) : 4394 - 4410
  • [9] Coordinated Control of Autonomous Four Wheel Drive Electric Vehicles for Platooning and Trajectory Tracking Using a Hierarchical Architecture
    Guo, Jinghua
    Li, Keqiang
    Luo, Yugong
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2015, 137 (10):
  • [10] Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive-Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain
    Qiao, Yiran
    Chen, Xinbo
    Yin, Dongxiao
    ACTUATORS, 2024, 13 (02)
12345