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Collaborative control of trajectory tracking and braking stability of intelligent vehicles with a blowout tire

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Abstract

In this study, a feedforward model predictive controller is developed to address the challege of vehicle trajectory deviation caused by the complex nonlinear characteristics, such as multivariable and time-varying parameters, of a vehicle experiencing a blowout tire. When addressing the issue of braking stability in vehicles with blowout tires, we follow a multistep approach: First, a linear quadratic regulator controller is used to counterbalance the additional yaw moment and maintain vehicle handling stability. Thereafter, a fuzzy sliding mode active braking controller is developed to timely and effectively reduce the vehicle’s speed within a safe range. Finally, a decision-making strategy is proposed to avert conflicts between the upper control and the lower control, achieving the integration of yaw stability control and active braking control. Results show that the collaborative control strategy can effectively rectify the trajectory deviation of a vehicle with a blowout tire, maintain its lateral stability, and achieve rapid longitudinal braking.

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Acknowledgments

This work is supported by a Research Program funded by the Department of Education and Technology and National Natural Science Foundation of China (Grant Nos. 12072204 and 11572207) and Natural Science Foundation of Hebei Province, China (Grant No. A2020210039).

Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhaung Tiedao University, Shijiazhuang, 050043, China

    Yongjie Lu

  2. School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang, 05443, China

    Zexuan Han & Yanhu Li

  3. School of Mechanics and Engineering Science, Shanghai University, Shanghai, 200444, China

    Junning Zhang

Authors
  1. Yongjie Lu
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  2. Zexuan Han
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  3. Junning Zhang
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  4. Yanhu Li
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Corresponding author

Correspondence to Zexuan Han.

Additional information

Yongjie Lu received her Ph.D. degree in vehicle operation engineering from Beijing Jiaotong University, China in 2011. At present, she works at Shijiazhuang Tiedao University as a Professor. Her current research interests include vehicle-road interaction dynamics and control.

Zexuan Han is currently taking up his master’s degree at Shijiazhuang Tiedao University. His current research interests include vehicle dynamics analysis and control.

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Lu, Y., Han, Z., Zhang, J. et al. Collaborative control of trajectory tracking and braking stability of intelligent vehicles with a blowout tire. J Mech Sci Technol 38, 67–78 (2024). https://doi.org/10.1007/s12206-023-1206-y

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  • DOI: https://doi.org/10.1007/s12206-023-1206-y

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