NDLI: Design of Integrated Autonomous Driving Control System that Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability

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Design of Integrated Autonomous Driving Control System that Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability

Content Provider	MDPI
Author	Ahn, Taewon Lee, Yongki Park, Kihong
Copyright Year	2021
Description	This paper describes an integrated autonomous driving (AD) control system for an autonomous vehicle with four independent in-wheel motors (IWMs). The system consists of two parts: the AD controller and the chassis controller. These elements are functionally integrated to improve vehicle stability and path tracking performance. The vehicle is assumed to employ an IWM independently at each wheel. The AD controller implements longitudinal/lateral path tracking using proportional-integral(PI) control and adaptive model predictive control. The chassis controller is composed of two lateral control units: the active front steering (AFS) control and the torque vectoring (TV) control. Jointly, they find the yaw moment to maintain vehicle stability using sliding mode control; AFS is prioritized over TV to enhance safety margin and energy saving. Then, the command yaw moment is optimally distributed to each wheel by solving a constrained least-squares problem. Validation was performed using simulation in a double lane change scenario. The simulation results show that the integrated AD control system of this paper significantly improves the path tracking capability and vehicle stability in comparison with other control systems.
Starting Page	144
e-ISSN	20799292
DOI	10.3390/electronics10020144
Journal	Electronics
Issue Number	2
Volume Number	10
Language	English
Publisher	MDPI
Publisher Date	2021-01-11
Access Restriction	Open
Subject Keyword	Electronics Transportation Science and Technology Autonomous Vehicle Integrated Autonomous Driving Control System Chassis Control Active Front Steering (afs) Torque Vectoring (tv) In-wheel Motor (iwm) Path Tracking Vehicle Stability
Content Type	Text
Resource Type	Article

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