Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control
Abstract
:1. Introduction
2. System Modeling
2.1. The 2-DOF Model
- (1)
- Small steering angle;
- (2)
- Constant longitudinal speed;
- (3)
- Ignores the influence of the shift of the longitudinal axle load.
2.2. Path following Model
3. Desired Yaw Rate
4. Controller Design
4.1. Design of MPC
4.2. Optimal External Yaw Moment Distribution
5. Simulation and Discussion
5.1. Case One
5.2. Case Two
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
- Faisal, A.; Kamruzzaman, M.; Yigitcanlar, T.; Currie, G. Understanding autonomous vehicles. J. Transp. Land Use 2019, 12, 45–72. [Google Scholar] [CrossRef] [Green Version]
- Schwarting, W.; Alonso-Mora, J.; Rus, D. Planning and decision-making for autonomous vehicles. Annu. Rev. Control. Robot. Auton. Syst. 2018, 1, 187–210. [Google Scholar] [CrossRef]
- Zheng, H.; Yang, S. A trajectory tracking control strategy of 4WIS/4WID electric vehicle with adaptation of driving conditions. Appl. Sci. 2019, 9, 168. [Google Scholar] [CrossRef] [Green Version]
- Tian, J.; Wang, Q.; Ding, J.; Wang, Y.; Ma, Z. Integrated control with DYC and DSS for 4WID electric vehicles. IEEE Access 2019, 7, 124077–124086. [Google Scholar] [CrossRef]
- Park, M.-W.; Lee, S.-W.; Han, W.-Y. Development of lateral control system for autonomous vehicle based on adaptive pure pursuit algorithm. In Proceedings of the 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014), Seoul, Korea, 22–25 October 2014; pp. 1443–1447. [Google Scholar]
- Snider, J.M. Tech. Report CMU-RITR-09-08: Automatic Steering Methods for Autonomous Automobile Path Tracking; Robotics Institute: Pittsburgh, PA, USA, 2009. [Google Scholar]
- Li, H.; Li, P.; Yang, L.; Zou, J.; Li, Q. Safety research on stabilization of autonomous vehicles based on improved-LQR control. AIP Adv. 2022, 12, 015313. [Google Scholar] [CrossRef]
- Qiu, B.; Wei, L.; Wang, X.; Li, L.; Zhou, D.; Wang, Z. Path tracking of autonomous vehicle based on adaptive preview trajectory planning with the consideration of vehicle stability. Proc. Inst. Mech. Eng. Part D J. Automob. Eng. 2022. [Google Scholar] [CrossRef]
- Hiraoka, T.; Nishihara, O.; Kumamoto, H. Automatic path-tracking controller of a four-wheel steering vehicle. Veh. Syst. Dyn. 2009, 47, 1205–1227. [Google Scholar] [CrossRef]
- Xia, Q.; Chen, L.; Xu, X.; Cai, Y.; Chen, T. Coordination control method of autonomous ground electric vehicle for simultaneous trajectory tracking and yaw stability control. Proc. Inst. Mech. Eng. Part D J. Automob. Eng. 2022. [Google Scholar] [CrossRef]
- Wu, Y.; Wang, L.; Zhang, J.; Li, F. Path following control of autonomous ground vehicle based on nonsingular terminal sliding mode and active disturbance rejection control. IEEE Trans. Veh. Technol. 2019, 68, 6379–6390. [Google Scholar] [CrossRef]
- Ostafew, C.J.; Schoellig, A.P.; Barfoot, T.D.; Collier, J. Learning-based nonlinear model predictive control to improve vision-based mobile robot path tracking. J. Field Robot. 2016, 33, 133–152. [Google Scholar] [CrossRef]
- Chen, X.; Han, Y.; Hang, P. Researches on 4WIS-4WID stability with LQR coordinated 4WS and DYC. In Advances in Dynamics of Vehicles on Roads and Tracks; Springer: Cham, Switzerland, 2020. [Google Scholar]
- Chen, T.; Chen, L.; Xu, X.; Cai, Y.; Sun, X. Simultaneous path following and lateral stability control of 4WD-4WS autonomous electric vehicles with actuator saturation. Adv. Eng. Softw. 2019, 128, 46–54. [Google Scholar] [CrossRef]
- Liang, Y.; Li, Y.; Zheng, L.; Yu, Y.; Ren, Y. Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability. Proc. Inst. Mech. Eng. Part D J. Automob. Eng. 2021, 235, 260–272. [Google Scholar] [CrossRef]
- Wang, W.; Ma, T.; Yang, C.; Zhang, Y.; Li, Y.; Qie, T. A Path Following Lateral Control Scheme for Four-Wheel Independent Drive Autonomous Vehicle using Sliding Mode Prediction Control. IEEE Trans. Transp. Electrif. 2022, 8, 3192–3207. [Google Scholar] [CrossRef]
- Peng, H.; Wang, W.; An, Q.; Xiang, C.; Li, L. Path tracking and direct yaw moment coordinated control based on robust MPC with the finite time horizon for autonomous independent-drive vehicles. IEEE Trans. Veh. Technol. 2020, 69, 6053–6066. [Google Scholar] [CrossRef]
- Xie, J.; Xu, X.; Wang, F.; Tang, Z.; Chen, L. Coordinated control based path following of distributed drive autonomous electric vehicles with yaw-moment control. Control Eng. Pract. 2021, 106, 104659. [Google Scholar] [CrossRef]
- Barari, A.; Saraygord Afshari, S.; Liang, X. Coordinated control for path-following of an autonomous four in-wheel motor drive electric vehicle. Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2022, 236, 6335–6346. [Google Scholar] [CrossRef]
- Zhai, L.; Sun, T.; Wang, J. Electronic stability control based on motor driving and braking torque distribution for a four in-wheel motor drive electric vehicle. IEEE Trans. Veh. Technol. 2016, 65, 4726–4739. [Google Scholar] [CrossRef]
- Margolis, D.L.; Asgari, J. Multipurpose Models of Vehicle Dynamics for Controller Design; SAE International: Warrendale, PA, USA, 1991. [Google Scholar]
- Skjetne, R.; Fossen, T.I. Nonlinear maneuvering and control of ships. In Proceedings of the MTS/IEEE Oceans 2001. An Ocean Odyssey, Conference Proceedings (IEEE Cat. No. 01CH37295), Honolulu, HI, USA, 5–8 November 2001; pp. 1808–1815. [Google Scholar]
- Zhao, Y.; Dong, L. Robust path-following control of a container ship based on Serret–Frenet frame transformation. J. Mar. Sci. Technol. 2020, 25, 69–80. [Google Scholar] [CrossRef]
- Hu, C.; Wang, R.; Yan, F.; Chen, N. Output constraint control on path following of four-wheel independently actuated autonomous ground vehicles. IEEE Trans. Veh. Technol. 2015, 65, 4033–4043. [Google Scholar] [CrossRef]
- Lin, J.; Zou, T.; Zhang, F.; Zhang, Y. Yaw Stability Research of the Distributed Drive Electric Bus by Adaptive Fuzzy Sliding Mode Control. Energies 2022, 15, 1280. [Google Scholar] [CrossRef]
- Li, Z.; Sun, J.; Oh, S. Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels. Automatica 2009, 45, 1649–1658. [Google Scholar] [CrossRef]
- Zhang, X.; Wei, K.; Yuan, X.; Tang, Y. Optimal torque distribution for the stability improvement of a four-wheel distributed-driven electric vehicle using coordinated control. J. Comput. Nonlinear Dyn. 2016, 11, 051017. [Google Scholar] [CrossRef]
- De Novellis, L.; Sorniotti, A.; Gruber, P. Wheel torque distribution criteria for electric vehicles with torque-vectoring differentials. IEEE Trans. Veh. Technol. 2013, 63, 1593–1602. [Google Scholar] [CrossRef] [Green Version]
- Falcone, P.; Eric Tseng, H.; Borrelli, F.; Asgari, J.; Hrovat, D. MPC-based yaw and lateral stabilisation via active front steering and braking. Veh. Syst. Dyn. 2008, 46, 611–628. [Google Scholar] [CrossRef]
- Wang, W.; Zhang, Y.; Yang, C.; Qie, T.; Ma, M. Adaptive Model Predictive Control-Based Path Following Control for Four-Wheel Independent Drive Automated Vehicles. IEEE Trans. Intell. Transp. Syst. 2021. [Google Scholar] [CrossRef]
- Rajamani, R. Vehicle Dynamics and Control; Springer Science & Business Media: Berlin, Germany, 2011. [Google Scholar]
Symbol | Parameter | Value | Unit |
---|---|---|---|
m | Total vehicle mass | 1590 | kg |
Distance from front axle to CG | 1.05 | m | |
Distance from rear axle to CG | 1.61 | m | |
Half of the wheelbase | 0.75 | m | |
Moment of inertia at vertical axis | 2059.2 | kg·m2 | |
Cornering stiffness of front tire | 66,000 | N/rad | |
Cornering stiffness of rear tire | 66,000 | N/rad | |
r | Radius of wheel | 0.347 | m |
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. |
© 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Share and Cite
Wang, C.; He, R.; Jing, Z.; Chen, S. Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control. Energies 2022, 15, 5728. https://doi.org/10.3390/en15155728
Wang C, He R, Jing Z, Chen S. Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control. Energies. 2022; 15(15):5728. https://doi.org/10.3390/en15155728
Chicago/Turabian StyleWang, Chenning, Ren He, Zhecheng Jing, and Shijun Chen. 2022. "Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control" Energies 15, no. 15: 5728. https://doi.org/10.3390/en15155728