This paper presents a robust controller using Linear Parameter Varying (LPV) model of lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on curved road influence the lateral model’s parameters, such as tire cornering stiffness. Thus, we use LPV technique to take variations into account in dynamics. However, multiple parameters lead high number scheduling va...

This paper presents a method to design an integrated chassis controller with four-wheel independent steering (4WIS) under the constraint on front slip angles for electric vehicles (EVs) adopting in-wheel motor (IWM) driving system. To improve lateral stability and maneuverability of vehicle, direct yaw moment control strategy is adopted. A allocation adopted distribute into tire forces, generat...

This paper investigates the trajectory tracking control issue of four-wheel independently actuated electric vehicles (FWIA EVs) with steer-by-wire devices concerning parameter uncertainties, external disturbances, input saturation, and vehicle sideslip angle not easily obtained. A robust H∞ dynamic output feedback strategy is proposed for integrated steering motor current direct yaw moment with...

This paper discusses the role of active anti-roll bar system in order to enhance roll stability cars, thereby preventing rollover phenomenon high speed emergency situations. First, an integrated full car model is proposed including longitudinal, lateral, vertical motions and electro-hydraulic actuator model. In this model, control signal being input current which supplied actuators create torqu...

Reasonably foreseeable misuse by persons, as a primary aspect of safety the intended functionality (SOTIF), has significant effect on cooperation performance for lane keeping. This paper presents novel human–machine cooperative control scheme with consideration SOTIF issues caused driver error. It is challenging to balance keeping and driving freedom when error occurs. A evaluation strategy pro...

We investigated the stochastic response of a person sitting in driving vehicle to quantify impact an uncertain parameter important controlling defect reduction terms ride comfort. Using CarSim software and MATLAB/Simulink, we developed fully coupled model that simulates combined with analytical nonlinear human model. Ride comfort was evaluated as index considering frequency weights defined BS 6...

Abstract. In order to solve the problems of low path-tracking accuracy, poor safety, and stability intelligent vehicles with variable speeds obstacles on road, a double-layer adaptive model predictive controller (MPC) is designed. A vehicle point mass used in an obstacle avoidance planning controller, safety collision distance established according relationship between improve driving vehicle. ...

The tire forces of vehicles will fall into the non-linear region under extreme handling conditions, which cause poor path tracking performance. In this paper, a model predictive controller based on nonlinear is designed. are characterized with composite functions magic formula instead simple linear relation model. Taylor expansion used to linearize controller, first-order difference quotient me...

To solve the problem of longitudinal cooperative formation driving control multiple vehicles, a novel model-free adaptive algorithm with data compensation under constraint conditions (COM-cMFAC) is proposed in this manuscript. In COM-cMFAC algorithm, pseudo partial derivative (PPD), which time-varying parameter, used to linearize nonlinear dynamics multivehicle system by using dynamic lineariza...

Vehicle stability control strategies can improve driving safety effectively; however, there is still a lack of unified evaluation criteria for different strategies. This paper proposes vehicle strategy method based on the region and analyzed by using direct yaw moment (DYC) four-wheel steering (4WS) as examples. Firstly, five-degree-of-freedom (5DOF) system models including DYC 4WS are establis...