Research on Curving Acc System for Electric Vehicle Driven by In‐wheel Motors Based on Fmpc And Smc

Abstract

AbstractIn order to ensure the lateral stability of adaptive cruise control (ACC) vehicles during curve following, this paper proposes a hierarchical multi‐objective coordinated control ACC system structure for in‐wheel motor drive electric vehicles. Different control strategies are designed for the cruise mode and car‐following mode of the ACC system. A proportion integral differential (PID) controller is used to meet the need for speed control in cruise mode. For the car‐following mode, a multi‐objective ACC system distance control strategy is proposed considering the performance of car following, passenger comfort, driving safety and driving economy of ACC vehicles. The weight coefficients in the objective function are updated in real time by using the fuzzy model predictive control (FMPC) strategy to meet the needs of different road conditions and improve the driving economy. Then, the desired front wheel steering angle is obtained by preview control theory. According to the theory of sliding mode control (SMC), a lateral stability controller is designed to track the desired yaw rate and sideslip angle. Simulation results show that the electric vehicle driven by in‐wheel motors based on FMPC and SMC has better car‐following performance and lateral stability performance under variable curvature curved road conditions.