TY - GEN
T1 - A Layered Coordinated Trajectory Tracking for High- Speed A-4WID-EV in Extreme Conditions
AU - Liu, Cong
AU - Liu, Hui
AU - Han, Lijin
AU - Xiang, Changle
AU - Xu, Bin
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/18
Y1 - 2020/12/18
N2 - In order to improve the accuracy of trajectory tracking and handling stability for high-speed autonomous vehicle in extreme conditions, a novel trajectory tracking layered coordinated control strategy based on future driving state prediction for autonomous four-wheel independent drive electric vehicle (A-4WID-EV) is proposed, For the upper controller, a driving state prediction algorithm based on the variable-order Markov model with dynamic window is proposed to predict the driving state in the future. For the lower controller, an active front wheel angle control strategy based on multi-scale model predictive control (MPC) is designed to provide vehicle front wheel angle. Meanwhile, a coordinated four-wheel drive torque control strategy based on the future driving state is proposed to ensure the lateral stability during the trajectory tracking. Finally, through the CarSim-Matlab/Simulink co-simulations, the results show that the proposed controller can effectively improve accuracy trajectory tracking and lateral stability of highspeed A-4WID-EV in extreme conditions.
AB - In order to improve the accuracy of trajectory tracking and handling stability for high-speed autonomous vehicle in extreme conditions, a novel trajectory tracking layered coordinated control strategy based on future driving state prediction for autonomous four-wheel independent drive electric vehicle (A-4WID-EV) is proposed, For the upper controller, a driving state prediction algorithm based on the variable-order Markov model with dynamic window is proposed to predict the driving state in the future. For the lower controller, an active front wheel angle control strategy based on multi-scale model predictive control (MPC) is designed to provide vehicle front wheel angle. Meanwhile, a coordinated four-wheel drive torque control strategy based on the future driving state is proposed to ensure the lateral stability during the trajectory tracking. Finally, through the CarSim-Matlab/Simulink co-simulations, the results show that the proposed controller can effectively improve accuracy trajectory tracking and lateral stability of highspeed A-4WID-EV in extreme conditions.
KW - Future driving state prediction
KW - Handling stability
KW - High-speed A-4WID-EV
KW - Trajectory tracking
UR - https://www.scopus.com/pages/publications/85101094014
U2 - 10.1109/CVCI51460.2020.9338473
DO - 10.1109/CVCI51460.2020.9338473
M3 - Conference contribution
AN - SCOPUS:85101094014
T3 - 2020 4th CAA International Conference on Vehicular Control and Intelligence, CVCI 2020
SP - 590
EP - 595
BT - 2020 4th CAA International Conference on Vehicular Control and Intelligence, CVCI 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th CAA International Conference on Vehicular Control and Intelligence, CVCI 2020
Y2 - 18 December 2020 through 20 December 2020
ER -