TY - GEN
T1 - Coordinated control of active front steering and direct yaw moment control for in-wheel-motor-drive electric vehicles
AU - Guo, Pengyu
AU - Zhang, Lei
AU - Wang, Zhenpo
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/27
Y1 - 2020/11/27
N2 - In this paper, a hierarchical control scheme is proposed to improve trajectory tracking ability and lateral stability for in-wheel-motor-drive electric vehicles via coordinating active front steering (AFS) and direct yaw moment control (DYC). It consists of three layers, i.e., the upper, the intermediate and the lower layer. Firstly, the upper layer controller calculates the desired additional yaw moment based on the sliding mode control (SMC) algorithm for ensuring vehicle dynamics stability. Then, the intermediate layer controller decides the working areas of the two subsystems based on the working conditions of tires. Finally, the lower layer controller coordinates the AFS and DYC subsystems for enhanced vehicle lateral stability. Simulink/CARSIM co-simulation results show that the proposed coordinated control scheme outperforms the DYC-only control in both path following performance and vehicle lateral stability under typical maneuvers.
AB - In this paper, a hierarchical control scheme is proposed to improve trajectory tracking ability and lateral stability for in-wheel-motor-drive electric vehicles via coordinating active front steering (AFS) and direct yaw moment control (DYC). It consists of three layers, i.e., the upper, the intermediate and the lower layer. Firstly, the upper layer controller calculates the desired additional yaw moment based on the sliding mode control (SMC) algorithm for ensuring vehicle dynamics stability. Then, the intermediate layer controller decides the working areas of the two subsystems based on the working conditions of tires. Finally, the lower layer controller coordinates the AFS and DYC subsystems for enhanced vehicle lateral stability. Simulink/CARSIM co-simulation results show that the proposed coordinated control scheme outperforms the DYC-only control in both path following performance and vehicle lateral stability under typical maneuvers.
KW - Active front steering
KW - Coordinated control
KW - Direct yaw moment control
KW - Lateral stability
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85098969222&partnerID=8YFLogxK
U2 - 10.1109/ICUS50048.2020.9274961
DO - 10.1109/ICUS50048.2020.9274961
M3 - Conference contribution
AN - SCOPUS:85098969222
T3 - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
SP - 1134
EP - 1141
BT - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Unmanned Systems, ICUS 2020
Y2 - 27 November 2020 through 28 November 2020
ER -