Details

Autor(en) / Beteiligte

• Zhang, Zhida
• Zheng, Ling
• Li, Yinong
• Li, Shaohua
• Liang, Yixiao

Titel

Cooperative Strategy of Trajectory Tracking and Stability Control for 4WID Autonomous Vehicles Under Extreme Conditions

Ist Teil von

• IEEE transactions on vehicular technology, 2023-03, Vol.72 (3), p.1-15

Ort / Verlag

New York: IEEE

Erscheinungsjahr

2023

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• Trajectory tracking and stability control are two essential functions of autonomous vehicles, and there is inevitable mutual interference between them, especially under extreme conditions. Towards addressing this challenge, this paper proposes a novel cooperative strategy of trajectory tracking and stability control for four-wheel independent drive (4WID) autonomous vehicles. An adaptive trajectory tracking controller is designed based on the model predictive control (MPC) theory, in which the tire cornering stiffness is modified in real-time leverages the lateral force estimated by the square-root cubature Kalman filter (SCKF). Then, the vehicle stability controller is designed based on the sliding mode control (SMC), in which the tire force saturation constraint and the relative weight of yaw rate and sideslip angle are considered. Furthermore, a weight adaptive criterion with normalized stability index is defined to develop the cooperative strategy of trajectory tracking and stability control. The feasibility and adaptability of the proposed method to different extreme conditions are verified by hardware-in-the-loop (HIL) test and CarSim-Simulink co-simulation. Finally, an experimental case is presented to demonstrate the realizability of the proposed method.