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Lateral Collision Avoidance Robust Control of Electric Vehicles Combining a Lane-Changing Model Based on Vehicle Edge Turning Trajectory and a Vehicle Semi-Uncertainty Dynamic Model

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Abstract

This paper presents a new control scheme for lateral collision avoidance (CA) systems to improve the safety of four-in-wheel-motor-driven electric vehicles (FIWMD-EVs). There are two major contributions in the design of lateral CA systems. The first contribution is a new lane-changing model based on vehicle edge turning trajectory (VETT) to make vehicle adapt to different driving roads and conform to drivers’ characteristic, in addition to ensure vehicle steering safety. The second contribution is vehicle semi-uncertainty dynamic model (SUDM), which is SISO model. The problem of stability performance without the information on sideslip angle is solved by the proposed SUDM. Based on the proposed VETT and SUDM, the lateral CA system can be designed with H∞ robust controller to restrain the effect of uncertainties resulting from parameter perturbation and lateral wind disturbance. Single and mixed driving cycles simulation experiments are carried out with CarSim to demonstrate the effectiveness in control scheme, simplicity in structure for lateral CA system based on the proposed VETT and SUDM.

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Abbreviations

a x :

longitudinal acceleration at the center of gravity (CG)

a y :

lateral acceleration at the CG

a :

longitudinal minimum distance model constant

b :

longitudinal minimum distance model constant

d 0 :

minimum distance

d :

track width (the front and rear track widths are assumed to be equal)

d z :

updating threshold of data

g :

acceleration due to gravity

k :

driving intention parameter

l f :

distance from CG to front axle

l r :

distance from CG to rear axle (l = lf + lr)

m :

vehicle mass

m̅ :

nominal value of m

p m :

perturbation range of m

p I :

perturbation range of Iz

p :

number of pole pairs

r :

wheel radius

v x :

longitudinal velocity at the CG

v xf :

longitudinal velocity of following vehicle

v xl :

longitudinal velocity of leading vehicle

v rel :

relative velocity

v y :

lateral velocity at the CG

v wind :

lateral wind velocity

y e :

lane width

C f :

cornering stiffness of front tires

C r :

cornering stiffness of rear tires

C y :

lateral force coefficient

D :

vehicle-to-vehicle distance

F aero :

equivalent longitudinal aerodynamic drag force

F xfl :

longitudinal force acting on the front-left tire

F xfr :

longitudinal force acting on the front-right tire

F xrl :

longitudinal force acting on the rear-left tire

F xrr :

longitudinal force acting on the rear-right tire

F yfl :

lateral force acting on the front-left tire

F yfr :

lateral force acting on the front-right tire

F yrl :

lateral force acting on the rear-left tire

F yrr :

: lateral force acting on the rear-right tire

F zf :

normal force of front tire

F zr :

normal force of rear tire

G PI(s):

transfer function of PI controller

I z :

yaw moment of inertia

Ī z :

nominal value of Iz

M z :

yaw moment

P max :

max. power

R xf :

rolling resistance force at the front tires

R xr :

rolling resistance force at the rear tires

S veh :

vehicle frontal area

T fl :

longitudinal moment acting on the front-left tire

T fr :

longitudinal moment acting on the front-right tire

T rl :

longitudinal moment acting on the rear-left tire

T rr :

longitudinal moment acting on the rear-right tire

T max :

max. torque

β :

vehicle sideslip angle at CG

γ :

yaw rate

ρ :

air density

δ f :

front steering angle

θ(t):

estimated parameters in RLS

φ(t):

regression vector in RLS

y(t):

measured output in RLS

e(t):

identification error in RLS

λ :

forgetting factor in RLS

φ μ :

adhesive coefficient between the tire and the road

ψ r :

interlinkage magnetic flux

ω max :

max. speed

δ m :

perturbation of m

δ I :

perturbation of Iz

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Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, 130012, China

    Yufeng Lian & Keping Liu

  2. College of Communication Engineering, Jilin University, Changchun, 130025, China

    Xiaoyu Wang & Yantao Tian

  3. Key Laboratory of Bionics Engineering, Ministry of Education, Jilin University, Changchun, 130025, China

    Yantao Tian

Authors
  1. Yufeng Lian
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  2. Xiaoyu Wang
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  3. Yantao Tian
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  4. Keping Liu
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Correspondence to Yantao Tian.

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Lian, Y., Wang, X., Tian, Y. et al. Lateral Collision Avoidance Robust Control of Electric Vehicles Combining a Lane-Changing Model Based on Vehicle Edge Turning Trajectory and a Vehicle Semi-Uncertainty Dynamic Model. Int.J Automot. Technol. 19, 331–343 (2018). https://doi.org/10.1007/s12239-018-0032-1

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  • DOI: https://doi.org/10.1007/s12239-018-0032-1

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