High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently

Qinghua Meng,Zong-Yao Sun,Chuan Hu,Xin Zhao

doi:10.3390/electronics10060760

Qinghua Meng, Zong-Yao Sun + Show 2 more

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https://doi.org/10.3390/electronics10060760

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Abstract

In order to improve the output response and robustness of the lane keeping controller for the electric vehicle driven by four wheels independently (EV-DFWI), the article proposes a lane keeping controller based on the non-smooth finite-time (NoS-FT) control method. Firstly, a lane keeping control (LKC) model was built for the EV-DFWI. Secondly, a tracking method and error weight superposition method to track error computing for the lane keeping control based on the LKC model are proposed according to the lane line information. Thirdly, a NoS-FT controller was constructed for lane keeping. It is proved that the NoS-FT controller can stabilize the system by the direct Lyapunov method. Finally, the simulations were carried out to verify that the NoS-FT controller can keep the vehicle running in the desired lane with the straight road, constant curvature road, varied curvature road, and S-bend road. The simulation results show that the NoS-FT controller has better effectiveness than the PID controller. The contributions of this article are that two kinds of tracking error computing methods of lane keeping control are proposed to deal with different conditions, and a Non-FT lane keeping controller is designed to keep the EV-DFWI running in the desired lane suffering external disturbances.

Highlights

The electric vehicle (EV), especially the electric vehicle driven by four wheels independently (EV-DFWI), has the potential capacity to reduce energy consumption, enhance traffic safety, and preserve environmental pollution [1,2]
Lane keeping control (LKC) technology is one of the intelligent technologies that has been used in EVs; the technology needs to be studied further to improve the response, robustness, etc
Based on the model, both a previewed tracking method and error weight superposition method are proposed to compute the tracking errors for the following designed controller to enable the vehicle to run along the desired lane

Summary

Introduction

Accepted: 21 March 2021The electric vehicle (EV), especially the electric vehicle driven by four wheels independently (EV-DFWI), has the potential capacity to reduce energy consumption, enhance traffic safety, and preserve environmental pollution [1,2]. Researchers have studied many technologies for the electric vehicle driven by in-wheel motors including cooling system methods [3], energy regeneration approaches [4], handling stability improvement methods [5], traction control systems [6], etc. Because the EV has higher electrification than the traditional fuel vehicle, new control technologies and equipment are applied [7]; the EV becomes more and more intelligent. Lane keeping control (LKC) technology is one of the intelligent technologies that has been used in EVs; the technology needs to be studied further to improve the response, robustness, etc. The basic principle of LKC is to ensure that an EV accurately follows the desired lane via different kinds of sensors and controllers. More and more researchers have paid attention to the field throughout the Published: 23 March 2021

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