Stable High-Speed Overtaking with Integrated Model Predictive and Four-Wheel Steering Control

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

The addressed issue is interesting. I recommend the following revisions:

 

--Avoid the phrase “This paper proposes” in the abstract.

--Vehicle Dynamics Modeling Problem: In the dynamic equations shown in (1-3), the front wheel forces are ignored. the authors justify that by reducing the computaional complexity .The authors are encouraged to investigate the effects of these forces on their control design to explain why they can be ignored.

--Fig 3: the overall control strategy is not clear please sepecift the symbos of the control inputs delivered to the vehcile rather than “rear weheel controls “and “front wheel controls”

--In “Discussion”, the scientific and technical writing still needs to be improved, the main problem is that some statements are slightly technical and vague, and it is recommended to add the specific value of the performance improvement of the control model in this study compared with a single MPC controller, such as improving “_%”.   

--In addition to the proposed method, various advanced control strategies, including prescribed performance control, represent promising alternatives for enhancing the addressed control performance. This topic warrants further discussion in the revised version.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  

 

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

This paper presents a control strategy for high-speed overtaking based on integrated model predictive control. Carsim-Simulink-based simulations are carried out to validate the robust performance of the proposed method. I have some comments to improve the quality of this paper.
1. As the authors state that vehicle dynamic stability is essential to autonomous vehicle control, I think some literature review about vehicle nonlinearity and analysis of handling stability should be involved. The following references can be referred to, for example,
[R1] “Deep Learning-Based Hybrid Dynamic Modeling and Improved Handling Stability Assessment for Autonomous Vehicles At Driving Limits,” IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2024.3515209.
[R2] “Hardware-in-the-loop real-time implementation of a vehicle stability control through individual wheel torques.” IEEE Transactions on Vehicular Technology 73.4 (2024): 4683-4693.
2. In Fig.3, what is “D model”? The description of the overall control strategy is unclear. Please rewrite the first paragraph of Section 4.
3. In terms of the Path Planning Methods, there are two suggestions. First, it should be presented before the design of path tracking and dynamic controller. Second, it seems a little redundant since the main contributions of this paper are about overtaking dynamic control.
4. Fig. 7 should be redrawn. What does “Y Label” mean? Dynamic variables and their corresponding units should be given. Besides, please check the curves of lateral acceleration. It seems unreasonable in the overtaking scenario.
5. Drivers exhibit varying overtaking styles with different preferred speed ranges. Future work could enhance adaptability by dynamically adjusting parameters.

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

In this manuscript, a hybrid control strategy based on vehicle dynamics for high-speed overtaking path tracking, aiming to ensure vehicle stability and maneuverability is presented. The reviewer has a few concerns that the authors may consider.

1. It is suggested to combine section 2 and section 3 to make the paper seem more logical.
2. A single MPC controller and MPC-4WS hybrid controller are given to compare the effectiveness of proposed algorithm. Clarify the relationship between the proposed method and existing traditional method. Furthermore, the author should add the several performance indicators to further validate.
3. The literature review section should be enriched to include fuzzy-pid, adaptive neural fuzzy applied to autonomous vehicles such as "Design of Adaptive Fuzzy-PID for Adaptive Cruise Control of Electric Vehicle Using DC Motor: Theory and Experiment, Design and evaluation of adaptive neural fuzzy-based pressure control for PEM fuel cell system".
4. The quality of the figure in the simulation results is poor. Please replot and improve it.
5. The block diagram in Figure 4 should add the measurement system. What is input and output? The role of the MPC and Sliding mode controller should be further explained?

Comments on the Quality of English Language

The English could be improved to more clearly express the research.

Author Response

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Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

I have no further comment.

Reviewer 2 Report

Comments and Suggestions for Authors

I have no more comments.