Design of an Active Collision Avoidance System for a 4WIS-4WID Electric Vehicle⁎. Issue 31 (2018)

• Record Type: Journal Article
• Authors: Hang, Peng; Han, Yanqun; Chen, Xinbo; Zhang, Bang
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 31(2018)
• Page Start: 771
• Page End: 777
• Publication Date: 2018
• Subjects: Active collision avoidance -- path planning -- tracking control -- four-wheel independent steering -- four-wheel independent drive -- electric vehicle; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.10.132
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A novel four-wheel independent steering and four-wheel independent drive (4WIS-4WID) electric vehicle (EV) is proposed in this paper, which is regarded as an autonomous ground vehicle (AGV). Then, the active collision avoidance system of the 4WIS-4WID EV is designed, which mainly consists of the path planner design and the path-tracking controller design. Clothoid is used to planning the collision avoidance path and robust H ∞ controller is applied to path tracking. To evaluate the performance of the active collision avoidance system for the 4WIS-4WID EV, simulations under two conditions are carried out. The simulation results indicate that the active collision avoidance system has good collision avoidance performance and robust performance, and the 4WIS-4WID EV has better path-tracking performance and handling stability than active front-wheel steering (AFS) vehicles.