Cooperative Control Framework for Human Driver and Active Rear Steering System to Advance Active Safety

Hang, Peng; Chen, Xinbo; Wang, Wei

doi:10.1109/tiv.2020.3037955

Cited by 29 publications

(16 citation statements)

References 41 publications

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“…The controller state space model, in which the front tire lateral force and external yaw moment are taken as the control inputs, can be derived from Eqs. ( 2), ( 4), (8), and (9) as The state vector, system output vector, control input, the state matrix and output matrix are respectively expressed as ( 9) To facilitate controller design and implementation, the continuous-time state-space model is converted into a discrete increment system using previous Euler method and expressed as Eq. ( 11).…”

Section: Design Of Path Tracking Controller Based On Mpc 241 Prediction Modelmentioning

confidence: 99%

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Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Tian

Yao

Hang

et al. 2022

Chin. J. Mech. Eng.

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It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions. In this study, an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm. The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model. To adaptively adjust the priorities of path tracking accuracy and vehicle stability, an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function. An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions. To ensure vehicle stability, the sideslip angle, yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame. It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and large-curvature conditions.

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Section: Design Of Path Tracking Controller Based On Mpc 241 Prediction Modelmentioning

confidence: 99%

“…The main tasks in autonomous vehicle systems include environmental perception, vehicle positioning, behavior decision-making, motion planning, and execution control. As the core task in execution control, path tracking should ensure that the vehicle accurately follows the reference path and remains vehicle stability [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Tian

Yao

Hang

et al. 2022

Chin. J. Mech. Eng.

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“…In [114,115], a pulsed steering system and a hydraulic-mechanical pulsed steering system are designed, which integrate the handling stability control and rollover prevention control. In [116], linear-time-varying (LTV) MPC is applied to the integrated controller design, which can advance lateral stability, handling performance and rollover prevention via the 4WS technique. In [117], the fuzzy SMC approach is applied to the vehicle dynamic control of 4WS vehicles, which can enhance the dynamic response and deal with system nonlinearity.…”

Section: Rollover Prevention Controlmentioning

confidence: 99%

Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

Hang

Chen

2021

Actuators

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In this paper, the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configuration of 4WID-4WIS EV is analyzed. Then, common control models of 4WID-4WIS EV, i.e., the dynamic model, kinematic model, and path tracking model, are summarized. Furthermore, the control frameworks, strategies, and algorithms of 4WID-4WIS EV are introduced and discussed, including the handling of stability control, rollover prevention control, path tracking control and active fault-tolerate control. Finally, with a view towards autonomous driving, some challenges, and perspectives for 4WID-4WIS EV are discussed.

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“…The entering vehicle does not require a complete stop to wait for the green light. As a result, traffic delays are reduced, and traffic capacity is improved [4], [5]. Therefore, connected and automated driving techniques are a favorable vantage point for addressing the issue of traffic congestion and conflict at unsignalized intersections to improve traffic efficiency and advance vehicle driving safety [6].…”

Section: Introduction a Motivationmentioning

confidence: 99%

Decision Making for Connected Automated Vehicles at Urban Intersections Considering Social and Individual Benefits

Hang¹,

Huang²,

Hu³

et al. 2022

Preprint

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To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as well as the benefits of individual users. Under the proposed decision-making framework, in this work, a representative urban driving scenario, i.e. the unsignalized intersection, is investigated. Once the vehicle enters the focused zone, it will interact with other CAVs and make collaborative decisions. To evaluate the safety risk of surrounding vehicles and reduce the complexity of the decision-making algorithm, the driving risk assessment algorithm is designed with a Gaussian potential field approach. The decision-making cost function is constructed by considering the driving safety and passing efficiency of CAVs. Additionally, decision-making constraints are designed and include safety, comfort, efficiency, control and stability. Based on the cost function and constraints, the fuzzy coalitional game approach is applied to the decision-making issue of CAVs at unsignalized intersections. Two types of fuzzy coalitions are constructed that reflect both individual and social benefits. The benefit allocation in the two types of fuzzy coalitions is associated with the driving aggressiveness of CAVs. Finally, the effectiveness and feasibility of the proposed decision-making framework are verified with three test cases.

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Cooperative Control Framework for Human Driver and Active Rear Steering System to Advance Active Safety

Cited by 29 publications

References 41 publications

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

Decision Making for Connected Automated Vehicles at Urban Intersections Considering Social and Individual Benefits

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