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.
Highlights
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
This paper proposes a DDAV coordinated control method based on the dynamic boundary, and a DDAV coordinated control system is designed
This paper proposes a DDAV lateral motion cooperative control method based on the dynamic boundary and Global Fast Terminal Sliding Mode (GFTSM)
Summary
The dynamic-boundary-based LMSCS is a model-based control strategy. The premise of LMSCS design is to construct a suitable DDAV dynamic model and analyze the dynamic cooperative control mechanism of PFC and YSC to provide the theoretical basis for realizing synergistic control. Construction of path following vehicle dynamics model. The vehicle dynamics model should be able to describe the DDAV lateral motion, yaw motion, and relationship between the heading angle and above-mentioned motions. The path tracking dynamics model should reflect the relationship between the vehicle and the road, the simplification of the DDAV to 2-DOF, and driving in the geodetic coordinate system, as shown, where αf is the average front wheel slip angle and αr is the average rear wheel slip angle. Construction of yaw stability control vehicle dynamics model. To construct the DDAV yaw stability control law, a 2-DOF vehicle dynamics model, which contains the tire force of each wheel and an additional yaw torque that reflects the lateral and yaw motion of the vehicle, respectively, is established as follows[32]:
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