Simultaneous path following and lateral stability control of 4WD-4WS autonomous electric vehicles with actuator saturation

2019 ◽  
Vol 128 ◽  
pp. 46-54 ◽  
Author(s):  
Te Chen ◽  
Long Chen ◽  
Xing Xu ◽  
Yingfeng Cai ◽  
Xiaoqiang Sun
Keyword(s):  
Electric Vehicles ◽  
Actuator Saturation ◽  
Path Following ◽  
Stability Control ◽  
Lateral Stability ◽  
Autonomous Electric Vehicles

scholarly journals A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Yaxiong Wang ◽  
Feng Kang ◽  
Taipeng Wang ◽  
Hongbin Ren
Keyword(s):  
Robust Control ◽  
Electric Vehicles ◽  
Control Algorithm ◽  
Control Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Level Control ◽  
Sideslip Angle ◽  
Safety Control ◽  
Yaw Moment

In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamics-based approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.

Lateral stability control of fully electric vehicles

2015 ◽  
Vol 16 (2) ◽  
pp. 317-328 ◽  
Author(s):  
M. T. Emırler ◽  
K. Kahraman ◽  
M. Şentürk ◽  
O. U. Acar ◽  
B. Aksun Güvenç ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Stability Control ◽  
Lateral Stability
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