Trajectory control for autonomous electric vehicles with in‐wheel motors based on a dynamics model approach. Issue 5 (1st June 2016)

• Record Type: Journal Article
• Authors: Li, Boyuan; Du, Haiping; Li, Weihua
• Is Part Of: IET intelligent transport systems. Volume 10:Issue 5(2016)
• Page Start: 318
• Page End: 330
• Publication Date: 2016-06-01
• Subjects: road vehicles -- road traffic control -- trajectory control -- electric vehicles -- vehicle dynamics -- three‐term control -- road safety -- steering systems -- wheels -- variable structure systems; longitudinal velocity SMC driving controller -- four‐wheel combined yaw rate -- four‐wheel SMC driving controller -- four‐wheel PID steering controller -- autonomous vehicle control -- two‐wheel sliding mode controller driving control -- two‐wheel proportional‐integral‐derivative steering control -- vehicle dynamics control -- redundant control actuators -- 4WIS–4WID techniques -- four‐wheel independent driving electric vehicle -- innovative four‐wheel independent steering -- vehicle safety -- road vehicles -- dynamics model approach -- in‐wheel motors -- autonomous electric vehicles -- trajectory control; Intelligent transportation systems -- Periodicals; Electronics in transportation -- Periodicals; 388.31205
• DOI: 10.1049/iet-its.2015.0159
• Languages: English
• ISSNs: 1751-956X

Abstract

Abstract : The trajectory control of autonomous vehicles is an area which has attracted much research recently because it can prevent accidents caused by driver errors and significantly improve road capacity. Overtaking is one of the most complex and challenging manoeuvres for road vehicles and the autonomous control of the vehicle during this manoeuvre can greatly improve vehicle safety. As the innovative four‐wheel independent steering (4WIS) and four‐wheel independent driving (4WID) electric vehicle can provide redundant control actuators, this study focuses on utilising 4WIS–4WID techniques and vehicle dynamics control to achieve better control of autonomous vehicles. This study first introduces the traditional two‐wheel proportional–integral–derivative (PID) steering control and two‐wheel sliding mode controller (SMC) driving control for autonomous vehicle control. Then based on these, the four‐wheel PID steering controller and four‐wheel SMC steering controller are proposed. A four‐wheel SMC driving controller and a four‐wheel combined yaw rate and longitudinal velocity SMC driving controller are also proposed. Simulation results prove that the best control performance can be achieved when the four‐wheel SMC steering controller and four‐wheel combined yaw rate and longitudinal velocity SMC driving controller are used together.