Author:
Wang Kai,Yang Mingliang,Li Yang,Liu Zibin,Wang Haiying,Ding Weiping
Abstract
AbstractTo improve the multidirectional motion control accuracy and driving stability of Distributed Drive Autonomous Vehicles (DDAVs) under extreme conditions, the extreme speed estimation method based on dynamic boundary and the multidirectional motion coupling control law design method based on multi degrees of freedom vehicle dynamic model are proposed. The extreme speed estimation method identifies the stable state of DDAVs by the dynamic boundary composed of yaw rate, sideslip angle and roll angle, and then estimates the extreme speed of the vehicle. The design method of multidirectional motion coupling control law adopts eight-degrees-of-freedom (8-DOF) vehicle dynamic model to design path tracking control law, speed tracking control law, yaw stability control law, and active suspension control law at the same time, so as to realize multidirectional motion coupling control. Based on the above method, the Multidirectional Motion Coupling Control System (MMCCS) of DDAVs is designed. The effectiveness of the proposed method is verified by double-line-shifting and serpentine driving simulations under different road adhesion conditions. The superiority of the method is proved by comparing the existing integrated control method.
Funder
Sichuan Province Science and Technology Support Program
Fundamental Research Funds for the Central Universities
Publisher
Springer Science and Business Media LLC
Cited by
5 articles.
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