Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

•A novel coordinated PFS and DYC control system of autonomous electric vehicles is proposed.•The proposed control system can strengthen the lateral stability and improve the path tracking performance.•Vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS. This paper presents...

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Bibliographic Details
Published in:Mechanical systems and signal processing 2018-05, Vol.105, p.183-199
Main Authors: Guo, Jinghua, Luo, Yugong, Li, Keqiang, Dai, Yifan
Format: Article
Language:English
Subjects:
Autonomous electric vehicles
Computer simulation
Control systems
Data integration
Design factors
Direct yaw moment control
Electric vehicles
Global positioning systems
GPS
Multisensor fusion
Path-following control
Predictive control
Sideslip
Signaling
Studies
Time-varying
Trajectory planning
Vehicle dynamics
Yawing moments
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Summary:•A novel coordinated PFS and DYC control system of autonomous electric vehicles is proposed.•The proposed control system can strengthen the lateral stability and improve the path tracking performance.•Vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS. This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.
ISSN:0888-3270
1096-1216
DOI:10.1016/j.ymssp.2017.12.018