Adaptive cruise control (ACC) performance is affected by multiple coupled factors, including safety margin, dynamic response, spacing regulation, target-transition behavior, and ride comfort. A single indicator is therefore insufficient for comprehen...
To improve recognition accuracy, convergence speed, and numerical stability in estimating the road adhesion coefficient for distributed-drive electric vehicles, a nonlinear seven-degree-of-freedom vehicle dynamics model was developed based on a modif...
The AEB-P (Autonomous Emergency Braking Pedestrian) system has the functional requirements of avoiding the pedestrian collision and ensuring the pedestrian’s life safety. By studying relevant theoretical systems, such as TTC (time to collision)...
This paper proposes a hierarchical control framework designed to enhance the path tracking accuracy of intelligent electric vehicles under diverse operating conditions. For lateral control, an improved model predictive control strategy is developed,...
In order to study the group cooperative control method of multiple intelligent networked vehicles, the multiple intelligent networked vehicles can move in the form of a fleet. Based on the leader–follower method, the paper optimizes the control...
To highlight the advantages of autonomous vehicles (AVs) in modern traffic, it is necessary to investigate the sensing requirement parameters of the road environment during the vehicle braking process. Based on the texture information obtained using...
Accurate and reliable estimation information of sideslip angle is very important for intelligent motion control and active safety control of an autonomous vehicle. To solve the problem of sideslip angle estimation of an autonomous vehicle, a sideslip...
For nonlinear systems, both the cubature Kalman filter (CKF) and square-root cubature Kalman filter (SCKF) can get good estimation performance under Gaussian noise. However, the actual driving environment noise mostly has non-Gaussian properties, lea...
Accurate and reliable vehicle velocity estimation is greatly motivated by the increasing demands of high-precision motion control for autonomous vehicles and the decreasing cost of the required multi-axis IMU sensors. A practical estimation method fo...
Distributed-drive electric vehicles can coordinate active front steering (AFS) and direct yaw-moment control (DYC) to regulate lateral and yaw responses. This study develops a hierarchical AFS–DYC framework with a unified physical interface and...
In this study, a slip control algorithm using motor torque control during the braking of the in-wheel electric vehicle was proposed and an anti-lock brake system (ABS) simulator was developed on the basis of the test results for electro-hydraulic ABS...
The design and optimization of drive distribution strategies are critical for enhancing the performance of Formula Student electric racing cars, which face demanding operational conditions such as rapid acceleration, tight cornering, and variable tra...
To solve the problem of the real-time path-planning of autonomous vehicles for obstacle avoidance on structured roads, a path-planning approach based on the B-spline algorithm is proposed in this paper. Firstly, the mechanism of driver path planning...
To enhance braking performance and lateral stability of vehicles equipped with a brake-by-wire system during emergency braking-in-turn maneuver, this paper proposes a Hybrid Optimization Allocation (HOA) strategy for braking force based on a hierarch...
A simultaneous trajectory tracking and stability control method is present for the four-wheel independent drive (4WID) automated vehicles to handle dynamic coupling maneuvers. To conquer the disadvantage that attendant disturbances caused by the dyna...
To address the problem in which wheel longitudinal slip rate directly affects the dynamics and handling stability of a vehicle under driving conditions, front and rear dual-motor four-wheel drive electric vehicles (4WD EVs) were selected as the resea...
Reliable estimation of vehicle states, tire cornering stiffness, and the tire-road adhesion coefficient are essential for vehicle lateral stability and intelligent chassis control. Under low adhesion, nonlinear tire operation, and weak excitation, la...
To address smoothness and safety issues in driving authority switching for human–machine co-driving intelligent vehicles, a hierarchical control strategy is proposed. The upper-layer controller utilizes a two-point preview model for human drivi...
To address the insufficient control accuracy of traditional vehicle stability control methods under nonlinear conditions, this paper proposes a combined stability control strategy for distributed-drive electric vehicles based on the phase plane metho...
To address inaccurate longitudinal speed acquisition, difficult road adhesion identification, and insufficient reliability of state inputs for traction control in dual-motor electric vehicles under low-adhesion, adhesion-transition, and drive-slip co...
In order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic s...
To address the problems of poor steering smoothness and handling stability for four-wheel independent steering (4WIS) vehicles, this paper presents an adaptive nonlinear model predictive control (ANMPC) strategy based on variable steering ratio (VSR)...
We explored a vehicle hill descent control (HDC) system based on an electronic stability program (ESP) and applied this system to brake cars. The experimental results reveal that our system can effectively reduce the workload of a driver during a dow...
Developing a human-like autonomous driving system has gained increasing amounts of attention from both technology companies and academic institutions, as it can improve the interpretability and acceptance of the autonomous system. Planning a safe and...
In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of...
The sideslip angle is a key state for evaluating the lateral stability of a vehicle. Its accurate estimation is crucial for active safety and intelligent driving assistance systems. To improve the estimation accuracy and robustness of the sideslip an...
Brake-by-wire (BBW) systems face challenges such as structural complexity, high energy consumption, and control inaccuracies induced by nonlinear factors. This study develops a novel self-locking dual-side synchronously clamping electronic wedge brak...
The antidisturbance control problem of autonomous vehicle path tracking considering lateral stability is studied in this paper. This paper proposes an improved active disturbance rejection control (IADRC) control method including an improved extended...
In order to solve problems of poor stability and large trajectory-tracking errors when intelligent vehicles are travelling at different speeds, when working conditions that require obstacle avoidance are not taken into account in the trajectory-track...
This paper proposes a new, robust time-delay cooperative adaptive cruise control (CACC) approach for vehicle platooning systems with uncertain dynamics and varying communication delay. The uncertain CACC models with perturbed parameters are used to d...
During cornering braking, longitudinal braking and lateral tire forces share the limited tire–road adhesion capacity and induce dynamic load transfer among the four wheels, thereby intensifying the coupling between braking performance and later...
In this paper, we address the problem of trajectory tracking control of autonomous vehicles by considering the nonlinear characteristics of tires. By considering the influence of the tires’ dynamics on steering stability, the proposed predictiv...
Vehicle active safety control is attracting ever increasing attention in the attempt to improve the stability and the maneuverability of electric vehicles. In this paper, a neural network combined inverse (NNCI) controller is proposed, incorporating...
To overcome the limitations of conventional model predictive control (MPC) for trajectory tracking of distributed-drive four-wheel-steering (4WS) vehicles, particularly its fixed weighting matrices and prediction and control horizons, this study inve...
In order to study the stability of a vehicle with inserts supporting run-flat tires after blowout, a run-flat tire model suitable for the conditions of a blowout tire was established. The unsteady nonlinear tire foundation model was constructed using...
This paper proposes an adaptive path tracking control method tailored for intelligent vehicles, aiming to enhance accuracy and stability. Initially, based on the traditional model predictive control (MPC) theory, the lateral speed stability boundary...
High-performance speed control of Permanent Magnet Synchronous Motor (PMSM) drives in Electric Vehicle (EV) applications faces significant challenges due to inherent nonlinearities, parameter variations, and signal non-idealities such as sensor noise...
This study proposes a dynamic braking force distribution strategy based on a PID algorithm for Formula Student electric racing cars, addressing the limitations of fixed-ratio distribution methods in adapting to dynamic braking conditions. The strateg...
In order to improve the stability of vehicle steering on low-adhesion road surfaces, this paper designed a hybrid robust control strategy, H2/H∞, for active front-wheel steering (AFS) based on robust control theory. Firstly, we analyzed the influence...
This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicl...
A coordinated control of front/rear traction, four-wheel independent braking, and an active roll control system is proposed in this paper to improve overall vehicle cornering performance. The control algorithm is structured in a hierarchical form: th...
Safe and efficient autonomous lane changing is a key step of connected automated vehicles (CAVs), which can greatly reduce the traffic accident rate and relieve the traffic pressure. Aiming at the requirements of the smoothness and efficiency of the...
This study investigates the issue of fault-tolerant motion control in the distributed chassis system (DCS) subject to degradation in independent steering actuators. First, the dynamic behavior of the independent steering system is analyzed to establi...
In this paper, a continuous steering stability controller based on an energy-saving torque distribution algorithm is proposed for a four in-wheel-motor independent-drive electric vehicle (4MIDEV) to improve the energy consumption efficiency while mai...
As the bottom layer of the autonomous vehicle, path tracking control is a crucial element that provides accurate control command to the X-by-wire chassis and guarantees the vehicle safety. To overcome the deterioration of control performance for auto...
This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. First...
Since vehicle attitude cannot be readily measured, this paper designs a state observer based on the information available on the CAN bus. The attitude angle estimated in this way is not only robust in practical applications but can also replace an IM...
The design of intelligent vehicle trajectory tracking controllers still has some problems, such as parameter uncertainty and time consumption. To improve the tracking accuracy of the trajectory tracking controller and reduce its computational complex...
Active steering technology is a key technology for automatic driving vehicles to achieve route tracking and obstacle avoidance and risk avoidance, and its performance will affect the stability control of the vehicle. For solving the stability control...
This article introduces an efficient and high-precision estimation framework for four-wheel independently actuated (FWIA) autonomous vehicles based on a novel tire model and adaptive square-root cubature Kalman filter (SCKF) estimation strategy. Firs...
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