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Path-following control of 4WIS/4WID autonomous vehicles considering vehicle stability based on phase plane

文献类型：期刊论文

作者Sun, Yang1,2,3; Wang, Chao1,2,3; Wang, Haiyang4; Tian, Bin5; Ning, Haonan1,2,3
刊名PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
出版日期2024-05-16
页码14
关键词Autonomous vehicles path following control vehicle stability control phase plane
ISSN号0954-4070
DOI10.1177/09544070241248030
通讯作者Wang, Chao(wangciray@163.com)
英文摘要In order to ensure the following accuracy and improve the operational stability of four-wheel independent driving and four-wheel independent steering autonomous vehicles, this paper proposes a path-following control strategy based on the beta- beta phase plane. First, based on the kinematic relationship between the vehicle and the reference path, the linear matrix inequality theory is used to design the H infinity controller to obtain the wheel steering angle. Then, the vehicle steering system is subjected to nonlinear analysis according to phase plane theory, and a partition region controller is designed. In the unstable region, the instability degree of the vehicle is predicted by quadratic polynomial extrapolation and the particle swarm optimization PID controller is designed to determine the required yaw moment to restore the vehicle to the stable region. In the stable region, a fuzzy sliding mode controller is adopted to determine the required yaw moment so that the actual state variable of the vehicle follows the ideal state variable. Finally, the optimal tire force distributor is designed such that the required forces are allocated to all four wheels. The simulation results show that the proposed method can obtain excellent path-following performance and stability performance under different driving conditions.
WOS关键词TRAJECTORY TRACKING CONTROL ; ELECTRIC VEHICLES ; SIDESLIP ANGLE ; GROUND VEHICLE
资助项目Natural Science Foundation of Hebei Province[F 2021402011]
WOS研究方向Engineering ; Transportation
语种英语
WOS记录号WOS:001228105400001
出版者SAGE PUBLICATIONS LTD
资助机构Natural Science Foundation of Hebei Province
源URL[http://ir.ia.ac.cn/handle/173211/58458]  
专题中国科学院自动化研究所
通讯作者Wang, Chao
作者单位1.Hebei Univ Engn, Coll Mech & Equipment Engn, 19 Taiji Rd, Handan 056038, Peoples R China
2.Key Lab Intelligent Ind Equipment Technol Hebei Pr, Handan, Peoples R China
3.Handan Key Lab Intelligent Vehicles, Handan, Peoples R China
4.Jizhong Energy Fengfeng Grp Co LTD, Handan, Hebei, Peoples R China
5.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Sun, Yang,Wang, Chao,Wang, Haiyang,et al. Path-following control of 4WIS/4WID autonomous vehicles considering vehicle stability based on phase plane[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING,2024:14.
APA Sun, Yang,Wang, Chao,Wang, Haiyang,Tian, Bin,&Ning, Haonan.(2024).Path-following control of 4WIS/4WID autonomous vehicles considering vehicle stability based on phase plane.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING,14.
MLA Sun, Yang,et al."Path-following control of 4WIS/4WID autonomous vehicles considering vehicle stability based on phase plane".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING (2024):14.

入库方式： OAI收割

来源：自动化研究所

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