scholarly journals Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Yiwan Wu ◽  
Zhengqiang Chen ◽  
Rong Liu ◽  
Fan Li
Keyword(s):  
Electric Vehicle ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Lower Layer ◽  
Yaw Rate ◽  
Lane Departure ◽  
Dangerous Driving ◽  
Braking Torque ◽  
Avoidance Control ◽  
Yaw Moment

This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions. The control architecture for the lane departure avoidance system is hierarchical. In the upper controller, the desired yaw rate was calculated with the consideration of vehicle-lane deviation, vehicle dynamic, and the limitation of road adhesion. In the middle controller, a sliding mode controller (SMC) was designed to control the additional yaw moment. In the lower layer, the yaw moment was produced by the optimal distribution of driving/braking torque between four wheels. Lane departure avoidance was carried out by tracking desired yaw response. Simulations were performed to study the effectiveness of the control algorithm in Carsim®/Simulink® cosimulation. Simulation results show that the proposed methods can effectively confine the vehicle in lane and prevent lane departure accidents.

Vehicle Direct Yaw Moment Control with Longitudinal Forces Distribution

2014 ◽  
Vol 709 ◽  
pp. 331-334
Author(s):  
Man Hong Huang ◽  
Huan Shen ◽  
Yun Sheng Tan
Keyword(s):  
Control System ◽  
Reference Model ◽  
Sliding Mode ◽  
Stability Control ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Braking Torque ◽  
Stability Control System ◽  
Yaw Moment Control ◽  
Yaw Moment

In this paper, a vehicle stability control system is proposed to improve vehicle comfort, handling and stability. The control system includes reference model, DYC controller and Distributer. Reference model is used to obtain the desired yaw rate. DYC controller determines the desired yaw moment by means of sliding-mode technique. Distributer, based on maneuverability and comfort, distributes driving torque or braking torque according to the desired yaw rate. Simulation result shows that the proposed control algorithm can improve vehicle handling and stability effectively.

Torque vectoring control system for distributed drive electric bus under complicated driving conditions

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Liang Su ◽  
Zhenpo Wang ◽  
Chao Chen
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Steering Wheel ◽  
Content Type ◽  
Yaw Rate ◽  
Torque Vectoring ◽  
Driving Conditions ◽  
Yaw Moment

Purpose The purpose of this study is to propose a torque vectoring control system for improving the handling stability of distributed drive electric buses under complicated driving conditions. Energy crisis and environment pollution are two key pressing issues faced by mankind. Pure electric buses are recognized as the effective method to solve the problems. Distributed drive electric buses (DDEBs) as an emerging mode of pure electric buses are attracting intense research interests around the world. Compared with the central driven electric buses, DDEB is able to control the driving and braking torque of each wheel individually and accurately to significantly enhance the handling stability. Therefore, the torque vectoring control (TVC) system is proposed to allocate the driving torque among four wheels reasonably to improve the handling stability of DDEBs. Design/methodology/approach The proposed TVC system is designed based on hierarchical control. The upper layer is direct yaw moment controller based on feedforward and feedback control. The feedforward control algorithm is designed to calculate the desired steady-state yaw moment based on the steering wheel angle and the longitudinal velocity. The feedback control is anti-windup sliding mode control algorithm, which takes the errors between actual and reference yaw rate as the control variables. The lower layer is torque allocation controller, including economical torque allocation control algorithm and optimal torque allocation control algorithm. Findings The steady static circular test has been carried out to demonstrate the effectiveness and control effort of the proposed TVC system. Compared with the field experiment results of tested bus with TVC system and without TVC system, the slip angle of tested bus with TVC system is much less than without TVC. And the actual yaw rate of tested bus with TVC system is able to track the reference yaw rate completely. The experiment results demonstrate that the TVC system has a remarkable performance in the real practice and improve the handling stability effectively. Originality/value In view of the large load transfer, the strong coupling characteristics of tire , the suspension and the steering system during coach corning, the vehicle reference steering characteristics is defined considering vehicle nonlinear characteristics and the feedforward term of torque vectoring control at different steering angles and speeds is designed. Meanwhile, in order to improve the robustness of controller, an anti-integral saturation sliding mode variable structure control algorithm is proposed as the feedback term of torque vectoring control.

Integrated AFS and DYC Sliding Mode Controller Design for Hybrid Electric Vehicle

2010 ◽  
Author(s):  
Behrooz Mashadi ◽  
Majid Majidi
Keyword(s):  
Hybrid Electric Vehicle ◽  
Sliding Mode ◽  
Lower Layer ◽  
Steering Wheel ◽  
Slip Angle ◽  
Vehicle Model ◽  
Wheel Slip ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Yaw Moment

An integrated controller of active front steering and direct yaw moment is developed in this paper. In upper layer, the corrective steering angle and yaw moment are obtained using sliding mode control. A combined sliding surface is defined in order that the yaw rate and side slip angle of vehicle track the desired values. The corrective yaw moments are applied by electrical motors embedded in rear wheels. The desired value for yaw rate and sideslip angle are obtained from a 4-DOF nonlinear vehicle model. In the lower layer, the active steering, wheel slip and electrical motor torque controllers are designed. Wheel slip and motors torque controllers generate the longitudinal forces in the rear wheels to produce the desired yaw moment. A nonlinear nine degrees of freedom vehicle model is used for simulation purposes. The simulation results illustrate considerable improvements in vehicle handling.

Research of smoothness on torque coordination of two-wheel independently driven hub electric vehicle based on fuzzy control

2019 ◽  
Vol 50 (7) ◽  
pp. 205-216
Author(s):  
Chuanwei Zhang ◽  
Dongsheng Zhang ◽  
Hongjun Zeng ◽  
Rui Wang ◽  
Jianping Wen ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Electric Vehicle ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Control Strategies ◽  
Coordination Control ◽  
Experiment Platform ◽  
Yaw Rate ◽  
Driving Wheel ◽  
Yaw Moment

Aiming at the problems of drive torque coordination, steering vibration and asymmetry of two-wheel independent drive hub electric vehicle, a new torque coordination control algorithm of driving wheel is proposed based on fuzzy control theory. The algorithm takes yaw rate deviation and centroid side deviation as inputs of fuzzy controller, outputs additional yaw moment needed by vehicle, and distributes it to each driving wheel reasonably according to the requirements of each driving wheel. Under the coordination of the driving anti-skid control algorithm, the vibration of driving wheels was reduced and the vehicle can run smoothly. The algorithm is verified by Simulink-CarSim joint simulation, and a fast prototype experiment platform based on dSPACE is built. The results of experiment and simulation show that the control strategies are effective and feasible.

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control

2019 ◽  
Vol 233 (3) ◽  
pp. 549-567 ◽  
Author(s):  
Aria Noori Asiabar ◽  
Reza Kazemi
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Regenerative Braking ◽  
Lane Change ◽  
Unknown Parameters ◽  
Vehicle Handling ◽  
Adaptive Sliding Mode ◽  
Yaw Moment

In this paper, a direct yaw moment control algorithm is designed such that the corrective yaw moment is generated through direct control of driving and braking torques of four in-wheel brushless direct current motors located at the empty space of vehicle wheels. The proposed control system consists of a higher-level controller and a lower-level controller. In the upper level of proposed controller, a PID controller is designed to keep longitudinal velocity constant in manoeuvres. In addition, due to probable modelling error and parametric uncertainties as well as adaptation of unknown parameters in control law, an adaptive sliding mode control through adaptation of unknown parameters is presented to yield the corrective yaw moment such that the yaw rate tracks the desired value and the vehicle sideslip angle maintains limited so as to improve vehicle handling stability. The lower-level controller allocates the achieved control efforts (i.e. total longitudinal force and corrective yaw moment) to driving or regenerative braking torques of four in-wheel motors so as to generate the desired tyre longitudinal forces. The additional yaw moment applied by upper-lever controller may saturate the tyre forces. To this end, a novel longitudinal slip ratio controller which is designed based on fuzzy logic is included in the lower-level controller. A tyre dynamic weight transfer-based torque distribution algorithm is employed to distribute the motor driving torque or regenerative braking torque of each in-wheel motor for vehicle stability enhancement. A seven degree-of-freedom non-linear vehicle model with Magic Formula tyre model as well as the proposed control algorithm are simulated in Matlab/Simulink software. Three steering inputs including lane change, double lane change and step-steer manoeuvres in different roads are investigated in simulation environment. The simulation results show that the proposed control algorithm is capable of improving vehicle handling stability and maintaining vehicle yaw stability.

Advanced Active Safety System Using Separated Front and Rear Motor Control for a 4WD Hybrid Electric Vehicle

2007 ◽  
Vol 120 ◽  
pp. 223-228
Author(s):  
Dong Hyun Kim ◽  
Sung Ho Hwang ◽  
Hyun Soo Kim
Keyword(s):  
Motor Control ◽  
Electric Vehicle ◽  
Hybrid Electric Vehicle ◽  
Control Algorithm ◽  
Stability Control ◽  
Vehicle Stability ◽  
Vehicle Stability Control ◽  
Hybrid Electric ◽  
Stability Enhancement ◽  
Yaw Moment

Vehicle stability in 4 wheel drive(4WD) vehicles has been pursued by torque split based technology and brake based technology. The brake based methods are essentially brake maneuver strategies using the active control of the individual wheel brake. By comparison, the torque split based technologies realize stability by varying the traction torque split through powertrain to create an offset yaw moment. In the 4WD hybrid electric vehicle adopting separate front and rear motor, the vehicle stability enhancement algorithm using the rear motor control has some advantages such as faster response, braking energy recuperation, etc. However, since the left and right wheels are controlled by the same driving and regenerative torque from one motor, stability enhancement only by the front and rear motor control has a limitation in satisfying the required offset yaw moment. Therefore, to obtain the demanded offset yaw moment, a brake force distribution at each wheel is required. In this paper, a vehicle stability control logic using the front and rear motor and electrohydraulic brake(EHB) is proposed for a 4WD hybrid electric vehicle. A fuzzy control algorithm is suggested to compensate the error of the sideslip angle and the yaw rate by generating the direct yaw moment. Performance of the vehicle stability control algorithm is evaluated using ADAMS and MATLAB Simulink co-simulation.

Vehicle handling and stability control by the cooperative control of 4WS and DYC

2017 ◽  
Vol 31 (19-21) ◽  
pp. 1740090 ◽  
Author(s):  
Huan Shen ◽  
Yun-Sheng Tan
Keyword(s):  
Control System ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Integrated Control ◽  
Longitudinal Velocity ◽  
Stability Control ◽  
Sideslip Angle ◽  
Vehicle Handling ◽  
Braking Torque ◽  
Yaw Moment

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

scholarly journals A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

2019 ◽  
Vol 11 (9) ◽  
pp. 168781401987731
Author(s):  
Qiguang Wang ◽  
Ye Zhuang ◽  
Jiannan Wei ◽  
Konghui Guo
Keyword(s):  
Driving Simulator ◽  
Sliding Mode ◽  
Driver Model ◽  
Torque Distribution ◽  
Yaw Rate ◽  
Model Based ◽  
Control Set ◽  
The Difference ◽  
Driver’S Intention ◽  
Yaw Moment

In this article, a driver model–based direct yaw moment controller, selected as the upper controller, is developed, of which the control target is determined through a reference driver model in accordance with the driver’s intention. The sliding surface is chosen by the difference between the desired yaw rate and the real output yaw rate. Then, the desired yaw moment is calculated by the sliding mode control. In the lower controller, a novel control torque distribution strategy is designed based on the analysis of the tire characteristics. In addition, an admissible control set of the control torques is calculated in real time through an embedded tire model “UniTire.” Finally, a driver-in-the-loop experiment, via the driving simulator, is conducted to verify the proposed direct yaw moment controller.

Sign in / Sign up

Export Citation Format

Share Document