Path Following Control for Four-wheel Drive Electric Intelligent Vehicle Based on Coordination between Steering and Direct Yaw Moment System

doi:10.3901/JME.2021.06.142

Abstract

Abstract: In order to improve the path following performance of intelligent vehicles while ensure their dynamics stability in extreme conditions, control and coordination algorisms are designed based on the respective characteristics of steering and direct yaw moment (DYC) systems for four-wheel drive electric intelligent vehicles. Firstly, for the uncertainties of tire cornering stiffness during steering maneuvers, a robust controller is proposed based on linear matrix inequality (LMI) theory, which also has the ability to realize the regional pole assignment. And the solution of the controller is also investigated. For the DYC system, a hierarchical structure is proposed; a linear-time-varying model predictive control (LTV-MPC) method is utilized to generate the desired yaw rate in the upper-level controller based on the kinematics relationship between vehicle and road; the lower level controller obtains the active yaw moment by hyperbolic-tangent based sliding mode controller, and to ensure the stability of vehicle, the side slip angle is considered in the sliding surface, with its weight decided by side slip phase plane index. Considering that in most situations, the steering system alone can achieve satisfactory performance, an activate mechanism is introduced for DYC. Under the mechanism, DYC will not be involved until the steering system is judged unable to complete the control task, this can prevent the energy lost caused by most unnecessary involvement of DYC. Finally, results based on Simulink-CarSim co-simulation shows that the proposed controller can still have satisfactory path following performance even under relatively extreme conditions, while the dynamics stability is well maintained.

Key words: intelligent vehicle, 4WID electric vehicle, path following control, direct yaw moment, coordinative contro

CLC Number:

U461

LIANG Yixiao, LI Yinong, KHAJEPOUR Amir, ZHENG Ling. Path Following Control for Four-wheel Drive Electric Intelligent Vehicle Based on Coordination between Steering and Direct Yaw Moment System[J]. Journal of Mechanical Engineering, 2021, 57(6): 142-155.

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