Slip-aware driver assistance path tracking and stability control

2022 ◽  
Vol 118 ◽  
pp. 104958
Author(s):  
Ehsan Hashemi ◽  
Yechen Qin ◽  
Amir Khajepour
Keyword(s):  
Stability Control ◽  
Path Tracking ◽  
Driver Assistance

Controlling Vehicle Instability Through Stable Handling Envelopes

2011 ◽  
Author(s):  
Craig E. Beal ◽  
Carrie G. Bobier ◽  
J. Christian Gerdes
Keyword(s):  
Control Systems ◽  
Phase Plane ◽  
Driver Assistance System ◽  
The United States ◽  
Stability Control ◽  
Driver Assistance ◽  
Steer By Wire ◽  
Predictive Controller ◽  
Small Set ◽  
Driver Acceptance

Loss of control accidents result in thousands of fatalities in the United States each year. Production stability control systems are highly effective in preventing these accidents, despite their reliance on a hand-tuned response to data from a small set of sensors. However, improvements in sensing offer opportunities to determine stabilizing actions in a more systematic manner. This paper presents an approach that utilizes the yaw-sideslip phase plane to choose boundaries that eliminate unstable and undesirable driving regimes. These boundaries may be varied to obtain desirable performance and driver acceptance and form the basis for a driver assistance system that augments the driver input to maintain the vehicle within the bounds of a safe handling envelope. Experimental results from a model predictive controller used to enforce the envelope boundaries on a steer-by-wire vehicle are presented to demonstrate the viability of this framework for implementing stability boundaries.

Nonlinear State Estimation of Tire-Road Contact Forces Using a 14 DoF Vehicle Model

2012 ◽  
Vol 165 ◽  
pp. 155-159 ◽  
Author(s):  
Lawrence Louis ◽  
Dieter Schramm
Keyword(s):  
Degrees Of Freedom ◽  
Stability Control ◽  
Contact Forces ◽  
Driver Assistance ◽  
Vehicle Model ◽  
Driver Assistance Systems ◽  
Roll Control ◽  
Nonlinear State Estimation ◽  
Assistance Systems ◽  
Nonlinear State

The knowledge of the wheel forces is fundamental to the development of Advanced Driver Assistance Systems (ADAS) such as Electronic Stability Control (ESC) and Anti-Roll Control (ARC). However the direct measurement of the wheel forces has been very difficult. To overcome this drawback, it has been a common practice in the industry to estimate the forces at the tire-road contact using mathematical vehicle models and estimators, especially the Extended Kalman Filter (EKF). In this contribution, the performance of the EKF is evaluated using a complete spatial model with 14 degrees of freedom.

scholarly journals Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 184
Author(s):  
Peng Hang ◽  
Xinbo Chen
Keyword(s):  
Electric Vehicles ◽  
Active Fault ◽  
Kinematic Model ◽  
Autonomous Driving ◽  
Stability Control ◽  
Path Tracking ◽  
Rollover Prevention ◽  
Common Control ◽  
Tracking Model ◽  
And Control

In this paper, the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configuration of 4WID-4WIS EV is analyzed. Then, common control models of 4WID-4WIS EV, i.e., the dynamic model, kinematic model, and path tracking model, are summarized. Furthermore, the control frameworks, strategies, and algorithms of 4WID-4WIS EV are introduced and discussed, including the handling of stability control, rollover prevention control, path tracking control and active fault-tolerate control. Finally, with a view towards autonomous driving, some challenges, and perspectives for 4WID-4WIS EV are discussed.

scholarly journals Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Kai Wang ◽  
Weiping Ding ◽  
Mingliang Yang ◽  
Qiao Zhu
Keyword(s):  
Motion Control ◽  
Path Following ◽  
Stability Control ◽  
Path Tracking ◽  
Lateral Motion ◽  
Tracking Accuracy ◽  
Dynamic Boundary ◽  
Path Following Control ◽  
Yaw Stability ◽  
The Impact

AbstractTo improve the path tracking accuracy and yaw stability of distributed drive autonomous vehicles (DDAVs) under extreme working conditions, a cooperative lateral motion control method based on the dynamic boundary is proposed to prevent different road adhesion conditions from affecting the motion stability of DDAVs. Based on the analysis of the DDAV lateral dynamics system coordination mechanism, a dynamic boundary considering the pavement adhesion coefficient is proposed, and the Lateral Motion Synergistic Control System (LMSCS) is designed. The LMSCS is divided into the coordination, control, and executive layers. The coordination layer divides the control domain into the stable, quasi-stable, and unstable domains by the dynamic boundary, and coordinates the control strength of the path following control and yaw stability control. In the control layer, the path following control and yaw stability control laws are designed based on the global fast terminal sliding mode. The executive layer estimates the expected steering wheel angle and expected additional wheel torque. Joint simulations under double line shifting conditions confirmed that LMSCS reflects the impact of the road attachment conditions and improves the path tracking accuracy and vehicle yaw stability. The LMSCS has better overall performance than existing lateral motion control methods.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

A Study on Zero Assignment by Fault Tolerant Stability Control

2016 ◽  
Vol 136 (2) ◽  
pp. 143-156 ◽  
Author(s):  
Katsuhiko Fuwa ◽  
Tatsuo Narikiyo ◽  
Tatsushi Ooba
Keyword(s):  
Fault Tolerant ◽  
Stability Control
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