Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric is taken as the research object. Considering key factors such velocity and road adhesion coefficient, criterion studied, based on phase plane sideslip angle sideslip-angle rate. To solve problem that vehicles diffic...

This article presents a method to design controller for active roll stabilization (ARS) with disturbance feedforward control. To the controller, linear 1-DOF model is adopted. With model, three feedback controllers, i.e., quadratic regulator (LQR), H∞ and sliding mode (SMC), are designed. Feedforward lateral acceleration designed discrete-time state-space equation improve control performance. e...

A horizontal curve’s geometric design is considered an important factor in highway accidents, and simple spiral curves are regarded as the most common types of curves. Various factors affect safety curves, one which side friction Therefore, this study, was investigated for E-class sedan, SUV, two-axle conventional truck based on factor. In regard, CarSim TruckSim vehicle dynamic simulation soft...

This paper provides a multi-agent coordinated control system to improve the real-time performance of intelligent vehicle active collision avoidance. At first, functions and characteristics longitudinal lateral avoidance agents are analyzed, which main components multi-agent. Then, solution mechanism an is established based on hierarchical blackboard model methods provide reasonable way avoid in...

This paper proposed a control method of vehicle lateral stability system. In order to obtain the best driving performance under complicated friction conditions track, direct yaw moment (DYC) and engine torque regulation (ETC) value need be adjusted avoid penalisation each other. Firstly, intervention timing is studied, which judged by phase plane longitudinal speed threshold method, respectivel...

In the field of path tracking for car-like robots, although nonlinear model predictive control (NMPC) can handle system constraints well, its real-time performance is poor. To solve this problem, a neural network method with NMPC as learning sample proposed. The design process includes establishing controller based on time-varying local model, generating samples controller, and training to obta...

Accurate estimation of the road adhesion coefficient can help drivers and vehicles perceive changes in state effectively, reducing occurrence traffic crashes accordingly. Therefore, this paper proposes a method based on vehicle-road coordination deep learning. Firstly, vehicle-based data feedback system combined with network cloud is introduced, CarSim simulation used to expand set train model ...

The market for electric vehicles is growing rapidly. Among them, the demand a dual motor type 4 WD (Four -Wheel Driving) system increasing. In this paper, we present Torque Matching Strategy (TMS) method to select optimal torque distribution ratio motors. TMS controller operates set efficiency point by linearizing drive combination of two Driving simulation and testing were performed through fi...

This paper proposes an autonomous vehicle trajectory tracking system that fully considers road friction. When intelligent drives at high speed on roads with different friction coefficients, the difficulty of its control lies in fast and accurate identification coefficients. Therefore, improved strategy is designed based traditional recursive least squares (RLS), which utilized for coefficient. ...

In this study, to improve the accuracy of path tracking in intelligent vehicles, we propose an vehicle path-tracking control method based on improved model predictive (MPC) combined with hybrid proportional-integral-derivative (PID) theory. lateral control, a constraint side deflection front wheel is added traditional MPC and relaxation factor introduced stability for driving stability. longitu...