Advertisement

Robust Combined Lane Keeping and Direct Yaw Moment Control for Intelligent Electric Vehicles with Time Delay

  • Jinghua Guo
  • Yugong LuoEmail author
  • Chuan Hu
  • Chen Tao
  • Keqiang Li
Article
  • 31 Downloads

Abstract

In order to enhance the tracking performance and improve the stability of intelligent electric vehicles, combined Lane keeping and direct yaw moment control is a good choice. In this paper, an uncertain model of intelligent electric vehicles for combing the lane keeping and direct yaw moment control is deduced, in which time delay and data dropouts are involved. Since the intelligent electric vehicles have the features of time delay and strong uncertainties, a novel robust guaranteed cost combined lane keeping and direct yaw moment control system is constructed to manage the lateral motion of intelligent electric vehicles. The asymptotic stability of combined lane keeping and direct moment control system is verified based on the Lyapunov stability theory. Simulation tests are carried out to demonstrate the feasibility of the proposed control approach, and the results indicate that the presented robust combined control approach can accurately achieve the lane tracking capability, stability and maneuverability of intelligent electric vehicles.

Key Words

Intelligent electric vehicles Lane keeping Direct yaw moment control Combined control Time delay 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Ding, S., Liu, L. and Zheng, W. (2017). Sliding mode direct yaw-moment control design for in-wheel electric vehicles. IEEE Trans. Industrial Electronics, 648, 6752–6762.CrossRefGoogle Scholar
  2. Enache, N., Mammar, S., Netto, M. and Lusetti, B. (2010). Driver steering assistance for lane departure avoidance based on hybrid automata and composite lyapunov function. IEEE Trans. Intelligent Transportation Systems, 111, 28–39.CrossRefGoogle Scholar
  3. Goodarzi, A. and Ghajar, M. (2015). Integrating lanekeeping system with direct yaw moment control tasks in a novel driver assistance system. Proc. Institution of Mechanical Engineers, Part K: J. Multi-body Dynamics, 2291, 16–38.Google Scholar
  4. Guo, J. H., Hu, P., Li, L. and Wang, R. (2012). Design of automatic steering controller for trajectory tracking of unmanned vehicles using genetic algorithms. IEEE Trans. Vehicular Technology, 617, 2913–2924.CrossRefGoogle Scholar
  5. Guo, J. H., Li, K. Q. and Luo, Y. (2015). Coordinated control of autonomous four drive electric wheels for platooning and trajectory tracking using a hierarchical architecture. J. Dynamic Systems, Measurement, and Control 137, 10, 101001-1–101001-18.CrossRefGoogle Scholar
  6. Guo, J. H., Li, L., Li, K. Q. and Wang, R. (2013). An adaptive fuzzy sliding lateral control strategy of automated vehicles based on vision navigation. Vehicle System Dynamics: Int. J. Vehicle Mechanics and Mobility, 5110, 1502–1517.CrossRefGoogle Scholar
  7. Guo, J. H., Luo, Y. and Li, K. Q. (2018). An adaptive hierarchical trajectory following control approach of autonomous four wheel independent drive electric vehicles. IEEE Trans. Intelligent Transportation Systems, 198, 2482–2492.CrossRefGoogle Scholar
  8. Kobayashi, T., Katsuyama, E., Sugiura, H., Ono, E. and Yamamoto, M. (2017). Direct yaw moment control and power consumption of in wheel motor vehicle in steady state turning. Vehicle System Dynamics: Int. J. Vehicle Mechanics and Mobility, 551, 104–120.CrossRefGoogle Scholar
  9. Lee, J., Choi, J., Yi, K., Shin, M. and Ko, B. (2014). Lane keeping assistance control algorithm using differential braking to prevent unintended lane departures. Control Engineering Practice, 231, 1–13.CrossRefGoogle Scholar
  10. Leonardo, N., Aldo, S., Patrick, G., Javier, O., Jose, F., Johan, T. and Jasper, D. (2015). Direct yaw moment control actuated through electric drivetrains and friction brakes: Theoretical design and experimental assessment. Mechatronics, 26, 1–15.CrossRefGoogle Scholar
  11. Qiu, L., Yao, F., Xu, G., Li, S. and Xu, B. (2015). Output feedback guaranteed cost control for networked control systems with random packet dropouts and time delays in forward and feedback communication links. IEEE Trans. Automation Science and Engineering, 131, 284–295.CrossRefGoogle Scholar
  12. Rajamani, R. (2012). Vehicle Dynamics and Control. Springer. New York, USA.CrossRefzbMATHGoogle Scholar
  13. Riccardo, M., Stefano, S. and Mariana, N. (2011). Nest PID steering control for lane keeping in autonomous vehicles. Control Engineering Practice, 1912, 1458–1467.Google Scholar
  14. Shuai, Z., Zhang, H., Wang, J., Li, J. and Ouyang, M. (2014). Combined AFS and DYC control of Fourwheel-independent-drive electric vehicles over CAN network with time-varying delays. IEEE Trans. Vehicular Technology, 632, 591–602.CrossRefGoogle Scholar
  15. Son, Y., Kim, W., Lee, S. and Chung, C. (2015). Robust multirate control scheme with predictive virtual lanes for lane-keeping system of autonomous highway driving. IEEE Trans. Vehicular Technology, 648, 3378–3391.CrossRefGoogle Scholar
  16. Wang, R., Jing, H., Hu, C., Yan, F. and Chen, N. (2016). Robust H8 path following control for autonomous ground vehicles with delay and data droput. IEEE Trans. Intelligent Transportation Systems, 177, 2042–2050.CrossRefGoogle Scholar
  17. Yu, L. and Chu, J. (1999). An LMI approach to guaranteed cost control of linear uncertain time-delay systems. Automatica, 356, 1155–1159.MathSciNetCrossRefzbMATHGoogle Scholar

Copyright information

© KSAE 2019

Authors and Affiliations

  • Jinghua Guo
    • 1
  • Yugong Luo
    • 2
    Email author
  • Chuan Hu
    • 3
  • Chen Tao
    • 4
  • Keqiang Li
    • 2
  1. 1.Department of Mechanical and Electrical EngineeringXiamen UniversityXiamenChina
  2. 2.State Key Laboratory of Automotive Safety and EnergyTsinghua UniversityBeijingChina
  3. 3.Department of Mechanical EngineeringUniversity of Texas at AustinAustinUSA
  4. 4.State Key Laboratory of Vehicle NVH and Safety TechnologyChina Automotive Engineering Research Institute Co., LtdChongqingChina

Personalised recommendations