{"title":"Real-Time Front-Wheel Drive Torque Coordinated Control for Path Tracking Under Rear-Wheel Adhesion Coefficient Variations","authors":"Tengfei Fu;Hongliang Zhou;Zhiyuan Liu","doi":"10.1109/TVT.2024.3463958","DOIUrl":null,"url":null,"abstract":"The history of automobiles spans over a century, yet our understanding of vehicle control, especially in preventing accidents, is still evolving. This article investigates the impact of sudden changes in the rear-wheel adhesion coefficients, which can occur due to inconsistent road friction conditions, on vehicle dynamics stability and path tracking. Our study utilizes simulations to analyze vehicle behavior under such extreme conditions and proposes a novel control system that coordinates front-wheel drive torque with steering adjustment for path tracking. This system incorporates an observer that detects changes in tire forces resulting from alterations in road adhesion coefficient. A stability index, derived from the lateral dynamics model and the Lyapunov function, is employed to determine the optimal times for activating or deactivating the control system. The front-wheel drive torque controller is designed with three cascading feedback loops to enhance path tracking precision. We evaluated the effectiveness of this controller through integrated simulations using CarMaker and Simulink. Additionally, we compare our Front-Wheel Drive Torque Coordinated Control (FDTCC) method with a classical Direct Yaw-Moment Control (DYC) method, demonstrating the advancements made in this research.","PeriodicalId":13421,"journal":{"name":"IEEE Transactions on Vehicular Technology","volume":"74 1","pages":"466-480"},"PeriodicalIF":7.1000,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Vehicular Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10684125/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
The history of automobiles spans over a century, yet our understanding of vehicle control, especially in preventing accidents, is still evolving. This article investigates the impact of sudden changes in the rear-wheel adhesion coefficients, which can occur due to inconsistent road friction conditions, on vehicle dynamics stability and path tracking. Our study utilizes simulations to analyze vehicle behavior under such extreme conditions and proposes a novel control system that coordinates front-wheel drive torque with steering adjustment for path tracking. This system incorporates an observer that detects changes in tire forces resulting from alterations in road adhesion coefficient. A stability index, derived from the lateral dynamics model and the Lyapunov function, is employed to determine the optimal times for activating or deactivating the control system. The front-wheel drive torque controller is designed with three cascading feedback loops to enhance path tracking precision. We evaluated the effectiveness of this controller through integrated simulations using CarMaker and Simulink. Additionally, we compare our Front-Wheel Drive Torque Coordinated Control (FDTCC) method with a classical Direct Yaw-Moment Control (DYC) method, demonstrating the advancements made in this research.
期刊介绍：
The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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