Abstract
This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions. The control architecture for the lane departure avoidance system is hierarchical. In the upper controller, the desired yaw rate was calculated with the consideration of vehicle-lane deviation, vehicle dynamic, and the limitation of road adhesion. In the middle controller, a sliding mode controller (SMC) was designed to control the additional yaw moment. In the lower layer, the yaw moment was produced by the optimal distribution of driving/braking torque between four wheels. Lane departure avoidance was carried out by tracking desired yaw response. Simulations were performed to study the effectiveness of the control algorithm in Carsim®/Simulink® cosimulation. Simulation results show that the proposed methods can effectively confine the vehicle in lane and prevent lane departure accidents.
Highlights
In the last decade, a large portion of highways traffic accidents lead to heavy casualties [1] due to drivers’ inattention, drowsiness, or fatigue
This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions
In order to verify the effectiveness of the proposed method, a high-fidelity four-wheel-independent-drive electric vehicle (4WID-EV) model developed in Carsim and Matlab/Simulink is applied in this study
Summary
A large portion of highways traffic accidents lead to heavy casualties [1] due to drivers’ inattention, drowsiness, or fatigue. Lane departure avoidance control with four-wheel steering has two independent inputs, namely, front- and rear-steering angles. Four-wheel steering provides superior lane departure avoidance performance in lateral and yaw motions to the only front steering angle/torque input [11]. The LDAS with differential braking input can provide satisfactory lane departure avoidance performance and resolve the conflicts between the driver and control system. For the four in-wheel motors drive electric vehicle is able to adopt either driving or braking torque generated by the in-wheel motors, and the torque of each in-wheel motor can be independently and precisely controlled [21] It means an improved lane departure avoidance control with high performance can be achieved. A new lane departure avoidance control method using differential driving/braking control for enhancing the active safety of electric vehicles is proposed.
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