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：
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页码：185 / 196
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