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Path Tracking Control With Four-Wheel Independent Steering, Driving and Braking Systems for Autonomous Electric Vehicles

控制理论(社会学) 跟踪(教育) 车辆动力学 动态制动 计算机科学 路径(计算) 发动机制动 缓速器 控制工程 制动器 工程类 汽车工程 控制(管理) 人工智能 心理学 教育学 程序设计语言
作者
Yonghwan Jeong,Seongjin Yim
出处
期刊:IEEE Access [Institute of Electrical and Electronics Engineers]
卷期号:10: 74733-74746 被引量:25
标识
DOI:10.1109/access.2022.3190955
摘要

This paper presents a method to design a path tracking controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) systems equipped in in-wheel motor-driven electric vehicles (IWM-EVs). Generally, it is difficult to calculate the steering angles of 4WIS and the braking/traction torques of 4WIB/4WID for path tracking control. Moreover, there have been limitations of an error dynamics-based path tracking controller, which requires assumptions on a target path. To cope with these problems, the path tracking problem on a target path is converted into the yaw rate tracking one with a reference yaw rate in this paper. Two methods are adopted for the purpose of calculating a reference yaw rate. The first is to use a pure pursuit method, which generates a steering angle for path tracking. From the steering angle, a reference yaw rate is calculated. The second is to derive a reference yaw rate from a target path and a current vehicle position. For yaw rate tracking, direct yaw moment control is adopted to generate a control yaw moment. A control allocation method is adopted to distribute a control yaw moment into tire forces, generated by 4WIS, 4WID and 4WIB. Several actuator combinations are represented by various sets of virtual weights in the control allocation method. A simulation with a vehicle simulation program, CarSim®, shows that the proposed path tracking controller is effective in enhancing the path tracking performance with 4WIS, 4WID and 4WIB. From the simulation, effects of actuator combinations on path tracking performance are analyzed.
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