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Trajectory control for autonomous electric vehicles with in-wheel motors based on a dynamics model approach

Journal Article


Abstract


  • The trajectory control of autonomous vehicles is an area which has attracted much research recently because it

    can prevent accidents caused by driver errors and significantly improve road capacity. Overtaking is one of the most

    complex and challenging manoeuvres for road vehicles and the autonomous control of the vehicle during this

    manoeuvre can greatly improve vehicle safety. As the innovative four-wheel independent steering (4WIS) and

    four-wheel independent driving (4WID) electric vehicle can provide redundant control actuators, this study focuses on

    utilising 4WIS-4WID techniques and vehicle dynamics control to achieve better control of autonomous vehicles. This

    study first introduces the traditional two-wheel proportional integral derivative (PID) steering control and two-wheel

    sliding mode controller (SMC) driving control for autonomous vehicle control. Then based on these, the four-wheel PID

    steering controller and four-wheel SMC steering controller are proposed. A four-wheel SMC driving controller and a

    four-wheel combined yaw rate and longitudinal velocity SMC driving controller are also proposed. Simulation results

    prove that the best control performance can be achieved when the four-wheel SMC steering controller and four-wheel

    combined yaw rate and longitudinal velocity SMC driving controller are used together.

Publication Date


  • 2016

Citation


  • B. Li, H. Du & W. Li, "Trajectory control for autonomous electric vehicles with in-wheel motors based on a dynamics model approach," IET Intelligent Transport Systems, vol. 10, (5) pp. 318-330, 2016.

Scopus Eid


  • 2-s2.0-84975063364

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5538

Number Of Pages


  • 12

Start Page


  • 318

End Page


  • 330

Volume


  • 10

Issue


  • 5

Abstract


  • The trajectory control of autonomous vehicles is an area which has attracted much research recently because it

    can prevent accidents caused by driver errors and significantly improve road capacity. Overtaking is one of the most

    complex and challenging manoeuvres for road vehicles and the autonomous control of the vehicle during this

    manoeuvre can greatly improve vehicle safety. As the innovative four-wheel independent steering (4WIS) and

    four-wheel independent driving (4WID) electric vehicle can provide redundant control actuators, this study focuses on

    utilising 4WIS-4WID techniques and vehicle dynamics control to achieve better control of autonomous vehicles. This

    study first introduces the traditional two-wheel proportional integral derivative (PID) steering control and two-wheel

    sliding mode controller (SMC) driving control for autonomous vehicle control. Then based on these, the four-wheel PID

    steering controller and four-wheel SMC steering controller are proposed. A four-wheel SMC driving controller and a

    four-wheel combined yaw rate and longitudinal velocity SMC driving controller are also proposed. Simulation results

    prove that the best control performance can be achieved when the four-wheel SMC steering controller and four-wheel

    combined yaw rate and longitudinal velocity SMC driving controller are used together.

Publication Date


  • 2016

Citation


  • B. Li, H. Du & W. Li, "Trajectory control for autonomous electric vehicles with in-wheel motors based on a dynamics model approach," IET Intelligent Transport Systems, vol. 10, (5) pp. 318-330, 2016.

Scopus Eid


  • 2-s2.0-84975063364

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5538

Number Of Pages


  • 12

Start Page


  • 318

End Page


  • 330

Volume


  • 10

Issue


  • 5