Feb. 2023

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Article Navigation> Transactions of Beijing institute of Technology> 2023> 43(2): 161-169

ZHANG Jun, ZHANG Xian, ZHANG Xueying, ZHANG Kun. Trajectory Tracking Control Strategy for Oblique Driving of 4WIS Unmanned Vehicle[J]. Transactions of Beijing institute of Technology, 2023, 43(2): 161-169. doi: 10.15918/j.tbit1001-0645.2022.052

Citation:

ZHANG Jun, ZHANG Xian, ZHANG Xueying, ZHANG Kun. Trajectory Tracking Control Strategy for Oblique Driving of 4WIS Unmanned Vehicle[J].Transactions of Beijing institute of Technology, 2023, 43(2): 161-169.doi:10.15918/j.tbit1001-0645.2022.052

Citation:

ZHANG Jun, ZHANG Xian, ZHANG Xueying, ZHANG Kun. Trajectory Tracking Control Strategy for Oblique Driving of 4WIS Unmanned Vehicle[J].Transactions of Beijing institute of Technology, 2023, 43(2): 161-169.doi:10.15918/j.tbit1001-0645.2022.052

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Trajectory Tracking Control Strategy for Oblique Driving of 4WIS Unmanned Vehicle

doi:10.15918/j.tbit1001-0645.2022.052

ZHANG Jun^{1, 2,},
ZHANG Xian^{1, 2,,},
ZHANG Xueying^{1, 2},
ZHANG Kun^{1, 2}

1.
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
2.
National Engineering Research Center of Electric Vehicles, Beijing 100081, China

Received Date:2022-03-09

Abstract

Abstract

Aiming at the problem of high cost of steering system of four-wheel independent steering electric vehicle (4WIS-EV) and less functional development, a vehicle oblique driving control method was proposed to optimize the driving stability of 4WIS-EV during lane changing. Firstly, based on the 4WIS-EV lateral and longitudinal two-degree-of-freedom vehicle model, a lateral and longitudinal coupled trajectory tracking control method was proposed. According to linear-time-variant (LTV) model and model predictive control (MPC) algorithm, a closed-loop control of lateral deviation, heading angle deviation and longitudinal speed deviation was carried out. And then, a vehicle stability controller was designed, including yaw moment controller and torque distribution controller to improve trajectory tracking accuracy and driving stability simultaneously. Finally, a Simulink/Carsim/Prescan co-simulation platform was built to carry out the lane-changing simulation of the 4WIS-EV in double-line shifting condition. The simulation results show the feasibility of the oblique lane change and the effectiveness of the lateral and longitudinal coupled trajectory tracking control method.
- four-wheel independent steering(4WIS-EV),
- path tracking,
- oblique driving,
- horizontal and vertical coupling,
- linear-time-variant(LTV)

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References (11)

References

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