NDLI: Trajectory control for autonomous electric vehicles with in-wheel motors based on a dynamics model approach

Content Provider	IET Digital Library
Author	Li, Boyuan Du, Haiping Li, Weihua
Abstract	The trajectory control of autonomous vehicles is an area which has attracted much research recently because it can prevent accidents caused by driver errors and significantly improve road capacity. Overtaking is one of the most complex and challenging manoeuvres for road vehicles and the autonomous control of the vehicle during this manoeuvre can greatly improve vehicle safety. As the innovative four-wheel independent steering (4WIS) and four-wheel independent driving (4WID) electric vehicle can provide redundant control actuators, this study focuses on utilising 4WIS–4WID techniques and vehicle dynamics control to achieve better control of autonomous vehicles. This study first introduces the traditional two-wheel proportional–integral–derivative (PID) steering control and two-wheel sliding mode controller (SMC) driving control for autonomous vehicle control. Then based on these, the four-wheel PID steering controller and four-wheel SMC steering controller are proposed. A four-wheel SMC driving controller and a four-wheel combined yaw rate and longitudinal velocity SMC driving controller are also proposed. Simulation results prove that the best control performance can be achieved when the four-wheel SMC steering controller and four-wheel combined yaw rate and longitudinal velocity SMC driving controller are used together.
Starting Page	318
Ending Page	330
Page Count	13
ISSN	1751956X
Volume Number	10
e-ISSN	17519578
Issue Number	Issue 5, Jun (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/10/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2015.0159
Journal	IET Intelligent Transport Systems
Publisher Date	2016-06-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	4WIS–4WID Techniques Autonomous Electric Vehicle Autonomous Vehicle Control Dynamics Model Approach Electric Vehicle Four-wheel Combined Yaw Rate Four-wheel Independent Driving Electric Vehicle Four-wheel PID Steering Controller Four-wheel SMC Driving Controller In-wheel Motors Innovative Four-wheel Independent Steering Longitudinal Velocity SMC Driving Controller Multivariable Control System Redundant Control Actuators Road Safety Road Traffic Control Road Traffic System Control Road Vehicle Spatial Variables Control Steering System Three-term Control Trajectory Control Two-wheel Proportional-integral-derivative Steering Control Two-wheel Sliding Mode Controller Driving Control Variable Structure System Vehicle Dynamics Vehicle Dynamics Control Vehicle Mechanics Vehicle Safety Wheels
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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