Lane keeping of autonomous vehicles based on differential steering with adaptive multivariable super-twisting control

Hu, Chuan; Qin, Yechen; Cao, Haotian; Song, Xiaolin; Jiang, Kai; Rath, Jagat Jyoti; Wei, Chongfeng

doi:10.1016/j.ymssp.2018.09.011

Cited by 78 publications

(37 citation statements)

References 36 publications

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“…An adaptive multivariable super-twisting control algorithm was proposed to achieve the lane keeping control. And the effectiveness and robustness of the proposed approach were verified by the simulation results [15].…”

Section: Introductionmentioning

confidence: 88%

“…Up to now, there are three functions of the DSS: (1) Steering the vehicle without the lateral turning of the wheel, that is, the skid steering [3,4]; (2) Assisting the driver to steer the vehicle and reducing the driver's load, i.e., the differential drive assisted steering (DDAS) [5][6][7][8]; (3) Steering the vehicle in case of the failure [9][10][11][12][13][14][15] or instead of the regular steering system [16][17][18]. Among them, the literatures [9][10][11][12][13][14][15][16] are most related to this study.…”

Section: Introductionmentioning

confidence: 99%

“…In summary, literatures [9][10][11][12][13][14][15] only used the DSS as the emergency or spare steering system once the regular steering systems failed, furthermore they utilized only front wheel as the sole steering input. In fact, the DSS can also be served as a unique steering system and can even be extended to the four-wheel steering.…”

Section: Introductionmentioning

confidence: 99%

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Four-Wheel Differential Steering Control of IWM Driven EVs

et al. 2020

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This paper aims to realize the four-wheel differential steering function of an in-wheel motor (IWM) driven electric vehicle (EV) with a steer-by-wire (SBW) system. The dynamic models of four-wheel differential steering vehicle (4WDSV) and four-wheel-steering vehicle (4WSV) are established, and a frontwheel-steering vehicle (2WSV) with the neutral steering characteristics and a drop filter of the sideslip angle is employed as the reference model to provide the ideal yaw rate and sideslip angle. According to the reference model, the decoupling and fractional PI  D  controllers are designed for the 4WSV to obtain the standard inputs, i.e., the front and rear wheel steering angles, which is finally drawn as the MAP. Furthermore, the sliding mode controller (SMC) and torque distributor are designed to control the 4WDSV to have the same yaw rate as the 4WSV, whose inputs are consulted from the MAP drawn in advance according to the vehicle speed. The simulation results of several vehicle models with/without the controller of two working conditions (reverse and in phase steering) are presented, which indicates that the proposed decoupling and fractional PI  D  controller for the 4WSV is effective to obtain its standard inputs, and the proposed SMC and torque distributor for the 4WDSV ensure that it has the same yaw rate as the 4WSV, as well as the good robustness. INDEX TERMS Four-wheel differential steering, in-wheel motor driven, decoupling, fractional PI  D  control, sliding model control.

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Section: Introductionmentioning

confidence: 88%

Section: Introductionmentioning

confidence: 99%

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Four-Wheel Differential Steering Control of IWM Driven EVs

et al. 2020

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“…As the most basic control objective of AGVs, the lanekeeping control is designed to maintain the vehicle to stay on the center line of the desired lane in the presence of inevitable tire sliding effects, system uncertainties, and unknown disturbances [14], [15]. Different lane-keeping control strategies [16]- [21] were proposed previously for various driving scenarios.…”

Section: Introductionmentioning

confidence: 99%

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Gao

Guo

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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“…A video-based vehicle embedded PID autonomous steering control test was proposed in Refs. [4,5]. Yaw rate tracking error based PID active front-wheel steering control was adopted to improve the vehicle steering dynamics, and an embedded control structure with two independent control loops was proposed.…”

Section: Introductionmentioning

confidence: 99%

Parallel Distributed Compensation /H∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Chen

Zhao

Wang

et al. 2020

Chin. J. Mech. Eng.

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Current research on lane-keeping systems ignores the effect of the driver and external resistance on the accuracy of tracking the lane centerline. To reduce the lateral deviation of the vehicle, a lane-keeping control method based on the fuzzy Takagi-Sugeno (T-S) model is proposed. The method adopts a driver model based on near and far visual angles, and a driver-road-vehicle closed-loop model based on longitudinal nonlinear velocity variation, obtaining the expected assist torque with a robust H ∞ controller which is designed based on parallel distributed compensation and linear matrix inequality. Considering the external influences of tire adhesion and aligning torque when the vehicle is steering, a feedforward compensation control is designed. The electric power steering system is adopted as the actuator for lane-keeping, and active steering redressing is realized by a control motor. Simulation results based on Carsim/Simulink and real vehicle test results demonstrate that the method helps to maintain the vehicle in the lane centerline and ensures driving safety.

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Lane keeping of autonomous vehicles based on differential steering with adaptive multivariable super-twisting control

Cited by 78 publications

References 36 publications

Four-Wheel Differential Steering Control of IWM Driven EVs

Four-Wheel Differential Steering Control of IWM Driven EVs

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Parallel Distributed Compensation /H∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

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