Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle

Abstract To improve the path tracking accuracy and yaw stability of distributed drive autonomous vehicles (DDAVs) under extreme working conditions, a cooperative lateral motion control method based on the dynamic boundary is proposed to prevent different road adhesion conditions from affecting the m...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Kai Wang, Weiping Ding, Mingliang Yang, Qiao Zhu
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/b6044deaef4f47e79ad4aa548c3a431b
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:b6044deaef4f47e79ad4aa548c3a431b
record_format	dspace
spelling	oai:doaj.org-article:b6044deaef4f47e79ad4aa548c3a431b2021-11-28T12:15:47ZDynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle10.1038/s41598-021-01947-32045-2322https://doaj.org/article/b6044deaef4f47e79ad4aa548c3a431b2021-11-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-01947-3https://doaj.org/toc/2045-2322Abstract To improve the path tracking accuracy and yaw stability of distributed drive autonomous vehicles (DDAVs) under extreme working conditions, a cooperative lateral motion control method based on the dynamic boundary is proposed to prevent different road adhesion conditions from affecting the motion stability of DDAVs. Based on the analysis of the DDAV lateral dynamics system coordination mechanism, a dynamic boundary considering the pavement adhesion coefficient is proposed, and the Lateral Motion Synergistic Control System (LMSCS) is designed. The LMSCS is divided into the coordination, control, and executive layers. The coordination layer divides the control domain into the stable, quasi-stable, and unstable domains by the dynamic boundary, and coordinates the control strength of the path following control and yaw stability control. In the control layer, the path following control and yaw stability control laws are designed based on the global fast terminal sliding mode. The executive layer estimates the expected steering wheel angle and expected additional wheel torque. Joint simulations under double line shifting conditions confirmed that LMSCS reflects the impact of the road attachment conditions and improves the path tracking accuracy and vehicle yaw stability. The LMSCS has better overall performance than existing lateral motion control methods.Kai WangWeiping DingMingliang YangQiao ZhuNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-19 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Kai Wang Weiping Ding Mingliang Yang Qiao Zhu Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
description	Abstract To improve the path tracking accuracy and yaw stability of distributed drive autonomous vehicles (DDAVs) under extreme working conditions, a cooperative lateral motion control method based on the dynamic boundary is proposed to prevent different road adhesion conditions from affecting the motion stability of DDAVs. Based on the analysis of the DDAV lateral dynamics system coordination mechanism, a dynamic boundary considering the pavement adhesion coefficient is proposed, and the Lateral Motion Synergistic Control System (LMSCS) is designed. The LMSCS is divided into the coordination, control, and executive layers. The coordination layer divides the control domain into the stable, quasi-stable, and unstable domains by the dynamic boundary, and coordinates the control strength of the path following control and yaw stability control. In the control layer, the path following control and yaw stability control laws are designed based on the global fast terminal sliding mode. The executive layer estimates the expected steering wheel angle and expected additional wheel torque. Joint simulations under double line shifting conditions confirmed that LMSCS reflects the impact of the road attachment conditions and improves the path tracking accuracy and vehicle yaw stability. The LMSCS has better overall performance than existing lateral motion control methods.
format	article
author	Kai Wang Weiping Ding Mingliang Yang Qiao Zhu
author_facet	Kai Wang Weiping Ding Mingliang Yang Qiao Zhu
author_sort	Kai Wang
title	Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
title_short	Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
title_full	Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
title_fullStr	Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
title_full_unstemmed	Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
title_sort	dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/b6044deaef4f47e79ad4aa548c3a431b
work_keys_str_mv	AT kaiwang dynamicboundarybasedlateralmotionsynergisticcontrolofdistributeddriveautonomousvehicle AT weipingding dynamicboundarybasedlateralmotionsynergisticcontrolofdistributeddriveautonomousvehicle AT mingliangyang dynamicboundarybasedlateralmotionsynergisticcontrolofdistributeddriveautonomousvehicle AT qiaozhu dynamicboundarybasedlateralmotionsynergisticcontrolofdistributeddriveautonomousvehicle
_version_	1718408098544091136

Dynamic-boundary-based lateral motion synergistic control of distributed drive autonomous vehicle

Ejemplares similares