Trajectory Tracking Control of Intelligent X-by-Wire Vehicles

Abstract

Vehicle intelligence is an effective way to improve driving safety and comfort and reduce traffic accidents. The trajectory tracking control of unmanned vehicles is the core module of intelligent vehicles. As a redundant system, the X-by-wire electric vehicle has the advantage that the turning angles and driving torque of the four wheels can be precisely controlled and it has a higher degree of controllability and flexibility. In this paper, a trajectory tracking control algorithm based on a hierarchical control architecture is designed based on x-by-wire vehicles. The hierarchical control algorithm architecture includes the trajectory tracking layer, tire force distribution layer, and actuator control layer. The trajectory tracking layer uses the longitudinal force, lateral force, and yaw moment as the control variables; the model predictive control algorithm controls the vehicle to follow the desired trajectory. The tire force distribution layer is solved by transforming the tire force distribution problem into a quadratic programming problem with constraints. Based on the expected resultant force and resultant moment, the longitudinal force and lateral force of each tire in the vehicle coordinate system are obtained. The actuator control layer converts the coordinate system to obtain the longitudinal force and lateral force in the tire coordinate system, which uses the arctangent function tire model to solve the desired tire slip angle, and then obtains the vehicle steer angle and driving torque. To verify the effectiveness of the trajectory tracking control algorithm of the hierarchical control architecture, the proposed trajectory tracking control algorithm is simulated and verified through the variable speed double line change condition and the low road friction coefficient double line change condition. The simulation results show that the control algorithm proposed in this paper has the accuracy to follow the desired trajectory.Definition:

Advanced X-by-Wire Technologies in Design, Control and Measurement for Vehicular Electrified Chassis

“…The simulation results demonstrated the method's excellent trajectory planning ability in highway scenes with high safety and precision tracking control. Reference [7] presents a trajectory-tracking control algorithm for X-by-wire electric vehicles based on a hierarchical control architecture. The algorithm consists of three layers: trajectory tracking, tire force distribution, and actuator control.…”

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

“…Instead, SBW systems rely on electronic sensors, actuators, and control units to interpret and execute steering commands. This technology promises several advantages, such as increased design flexibility by reducing weight, enhanced driving experience, and the potential for advanced driver assistance systems and functionalities associated with automotive driving [4]. The SBW systems can be integrated with intelligent collision avoidance algorithms that anticipate potential hazards and automatically adjust the steering to avoid collisions, thereby reducing the likelihood of road traffic accidents.…”

Semi-automatic of steer by wire system using fuzzy logic control and swarm optimization

“…The development of vehicle steering system technology using electric propulsion known as steer by wire (SbW) is divided into two types, namely fully automatic and semi-automatic of SbW systems [1]- [3]. Fully-automatic SbW is an SbW system that does not use a steer wheel to determine the direction of the wheel but uses programmatic trajectory [4], [5] global positioning system (GPS) technology [6], [7] or using line tracer [8], [9]. While the semi-automatic SbW is an SbW system that uses a steer wheel and is equipped with an angle sensor as a control system input to determine the direction of the front wheels of the vehicle [10], [11].…”