Study of direct yaw moment control for IEV to improve handling and stability control

Song, Chuanxue; Li, Shaokun; Song, Shenmin; Xiao, Feng; Li, Jianhua

doi:10.1109/icicip.2015.7388174

Cited by 2 publications

(1 citation statement)

References 19 publications

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“…Equation ( 11) is a nonlinear system 12 . But if we consider road curvature as information that disturbs the entire system, Equation ( 11) can be regarded as a linear system.…”

Section: /24mentioning

confidence: 99%

Research of the LQR algorithm with constraints based on preview control

Yang

Ouyang

2023

Preprint

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This study proposes a lateral and longitudinal control strategy for intelligent vehicles based on the preview control theory and linear quadratic regulator (LQR) to enhance the trajectory tracking ability and stability. The two-degree-of-freedom dynamic model of the vehicle and the road-vehicle error dynamic model is established, and the future road curvature is incorporated as a disturbance into the LQR state vector using the preview control theory. An augmented LQR problem is solved according to the optimal theory to obtain the analytical solution of the control quantity. This strategy also enhances the adaptive ability of the intelligent vehicle to extreme conditions by taking into account the dynamic constraints. The preview time is optimized using the simulated annealing algorithm to obtain the optimal preview time under different vehicle speeds and road friction coefficients. The stability of the closed-loop control system composed of the new algorithm is analyzed to verify its feasibility. Simulation results on the Carsim/Simulink joint platform demonstrate that it has excellent trajectory tracking ability, stability, and robustness to the vehicle speed. The proposed strategy has the potential to significantly advance the field of intelligent vehicle control and improve the safety and efficiency of transportation systems.

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“…Equation ( 11) is a nonlinear system 12 . But if we consider road curvature as information that disturbs the entire system, Equation ( 11) can be regarded as a linear system.…”

Section: /24mentioning

confidence: 99%