Path tracking and stability integrated control of intelligent vehicles under steering collision avoidance

Abstract

In order to improve the path tracking performance and stability of intelligent vehicles during steering and collision avoidance working condition, an integrated control method combining four-wheel steering, active suspension and direct yaw-moment is proposed. Firstly, a unified chassis dynamics model with 18 degrees-of-freedom (DOF) is established, which includes steering, braking and suspension subsystems. Phase plane analysis results for both traditional 2-DOF bicycle model and the 18-DOF model are compared. The results show that although the uneven road has a certain influence on the phase portraits of sideslip angle and sideslip angular velocity of the 18-DOF model, the overall trend is consistent with those of the 2-DOF model. Secondly, a general control framework for steering and collision avoidance of autonomous vehicle is put forward, consisting of the steering control for path tracking, and active suspension and direct yaw-moment control for stability. The collision avoidance reference path is planned by the fifth-degree polynomial, and three types of steering control methods including optimal control front wheel steering, optimal control four-wheel steering and front wheel steering combined with feedforward and feedback control, are adopted for comparison. The main contribution of this paper is that the role of active suspension is considered in the path tracking and stability integrated control of intelligent vehicles under steering collision avoidance. The active suspension subsystem uses optimal control method by two different kinds of weight coefficients, which can be switched between “comfort mode” and “sport mode” based on the vehicle lateral acceleration. According to the phase portraits of vehicle center of gravity sideslip angle and sideslip angular velocity, the direct-yaw moment control system adopts proportional differential control method based on the distance from the state point to the stability boundary. Finally, simulations and comparative analysis are compared among four different control systems on high and low adhesion roads. The research results indicate that the integrated control system can improve the vehicle path tracking performance and stability significantly.

Keywords

Steering collision avoidance path tracking stability phase plane integrated control

Get full access to this article

View all access options for this article.

References

Adams

Flannagan

Sivak

Obstacle avoidance maneuvers in an automobile simulator. Technical report UMTRI-95-3. Ann Arbor, MI: The University of Michigan Transportation Research Institute.

Eskandarian

Handbook of intelligent vehicles. London: Springer, 2012.

Kapania

Gerdes

JC.

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling. Veh Syst Dyn 2015; 53: 1687–1704.

Liu

Jayakumar

Stein

, et al. A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles. Veh Syst Dyn 2016; 54: 1629–1650.

Khajepour

Melek

, et al. Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints. IEEE Trans Vehicular Technol 2017; 66: 952–964.

Nie

Yin

, et al. A two-layer controller for lateral path tracking control of autonomous vehicles. Sensors 2020; 20: 3689.

Chen

Zhou

Autonomous vehicle path tracking control considering the stability under lane change. Proc IMechE, Part I: J Systems and Control Engineering 2021; 235: 1388–1402.

Liu

, et al. Emergency steering control of autonomous vehicle for collision avoidance and stabilisation. Veh Syst Dyn 2019; 57: 1163–1187.

, et al. Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits. Control Eng Pract 2018; 76: 41–53.

10.

Taghavifar

Rakheja

Path-tracking of autonomous vehicles using a novel adaptive robust exponential-like-sliding-mode fuzzy type-2 neural network controller. Mech Syst Signal Process 2019; 130: 41–55.

11.

Alleyne

A comparison of alternative obstacle avoidance strategies for vehicle control. Veh Syst Dyn 1997; 27: 371–392.

12.

Hiraoka

Nishihara

Kumamoto

Automatic path-tracking controller of a four-wheel steering vehicle. Veh Syst Dyn 2009; 47: 1205–1227.

13.

Lucet

Lenain

Grand

Dynamic path tracking control of a vehicle on slippery terrain. Control Eng Pract 2015; 42: 60–73.

14.

Swaroop

Yoon

SM.

Integrated lateral and longitudinal vehicle control for an emergency lane change manoeuvre design. Int J Veh Des 1999; 21: 161–174.

15.

Bevan

Gollee

O’reilly

. Automatic lateral emergency collision avoidance for a passenger car. Int J Control 2007; 80: 1751–1762.

16.

Isermann

Schorn

Stählin

Anticollision system PRORETA with automatic braking and steering. Veh Syst Dyn 2008; 46: 683–694.

17.

Hayashi

Isogai

Raksincharoensak

, et al. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory. Veh Syst Dyn 2012; 50: 151–168.

18.

Sabry

Aly

Oraby

, et al. Fuzzy control of autonomous intelligent vehicles for collision avoidance using integrated dynamics. SAE Int J Passenger Cars Mech Syst 2018; 11(1): 5–21.

19.

Fors

Olofsson

Nielsen

Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres. Veh Syst Dyn 2019; 57: 1206–1223.

20.

Yuan

Jiang

Guo

Research on vehicle active collision avoidance system based on the coordinated actions of braking and steering. China J Highw Transp 2019; 32: 173–181.

21.

Cui

Ding

, et al. A new strategy for rear-end collision avoidance via autonomous steering and differential braking in highway driving. Veh Syst Dyn 2020; 58: 955–986.

22.

Gao

Gordon

Lidberg

Optimal control of brakes and steering for autonomous collision avoidance using modified Hamiltonian algorithm. Veh Syst Dyn 2019; 57: 1224–1240.

23.

Yuan

Sun

Gordon

Unified decision-making and control for highway collision avoidance using active front steer and individual wheel torque control. Veh Syst Dyn 2019; 57: 1188–1205.

24.

Abi

Jin

Xiong

, et al. Shared control strategy based on trajectory following and driver intention optimization. Proc IMechE, Part D: J Automobile Engineering 2021; 235: 2605–2617.

25.

Xiong

Yang

Leng

, et al. Integrated longitudinal and lateral control for autonomous vehicles with active load transfer strategy at the handling limits. Proc IMechE, Part D: J Automobile Engineering 2021; 235: 961–974.

26.

Mashadi

Ahmadizadeh

Majidi

, et al. Integrated robust controller for vehicle path following. Multibody Syst Dyn 2015; 33: 207–228.

27.

Goodarzi

Sabooteh

Esmailzadeh

Automatic path control based on integrated steering and external yaw-moment control. Proc IMechE, Part K: J Multi-body Dynamics 2008; 222: 189–200.

28.

Yakub

Mori

Comparative study of autonomous path-following vehicle control via model predictive control and linear quadratic control. Proc IMechE, Part D: J Automobile Engineering 2015; 229: 1695–1714.

29.

Hang

Chen

Integrated chassis control algorithm design for path tracking based on four-wheel steering and direct yaw-moment control. Proc IMechE, Part I: J Systems and Control Engineering 2019; 233: 625–641.

30.

Brown

Funke

Erlien

, et al. Safe driving envelopes for path tracking in autonomous Vehicles. Control Eng Pract 2017; 61: 307–316.

31.

Xiang

Peng

Wang

, et al. Path tracking coordinated control strategy for autonomous four in-wheel-motor independent-drive vehicles with consideration of lateral stability. Proc IMechE, Part D: J Automobile Engineering 2021; 235: 1023–1036.

32.

Yao

Jiang

Coordination control of active front steering and direct yaw moment control based on stability judgment for AVs stability enhancement. Proc IMechE, Part D: J Automobile Engineering 2022; 236: 59–74.

33.

Taghavifar

Integrated control of vehicle stability by nonlinear observer-based exponential-like sliding mode neural network system. Proc IMechE, Part D: J Automobile Engineering 2021; 235: 3474–3486.

34.

Liang

Wang

Chen

, et al. Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation. Proc IMechE, Part D: J Automobile Engineering 2022; 236: 606–620.

35.

Ruan

Jiang

, et al. Stability control based on three-dimensional portraits for four-wheel-independent-drive EV. Proc IMechE, Part D: J Automobile Engineering 2022; 236: 1336–1352.

36.

Pacejka

Besselink

IJM

. Magic formula tyre model with transient properties. Veh Syst Dyn 1997; 27: 234–249.

37.

Ono

Hosoe

Doi

Bifurcation in vehicle dynamics and robust front wheel steering control. IEEE Trans Control Syst Technol 1998; 6: 412–420.

38.

Bobier-Tiu

Beal

Kegelman

, et al. Vehicle control synthesis using phase portraits of planar dynamics. Veh Syst Dyn 2019; 57: 1318–1337.

39.

Steven

Nonlinear dynamics and chaos. Beijing: China Machine Press, 2016.

40.

Weeks

Bresie

Beno

, et al. The design of an electromagnetic linear actuator for an active suspension. SAE technical papers 1999-01-0730, 1999.

41.

Gysen

Paulides

Janssen

, et al. Active electromagnetic suspension system for improved vehicle dynamics. IEEE Trans Vehicular Technol 2010; 59: 1156–1163.

42.

East

Turcotte

Plante

, et al. Experimental assessment of a linear actuator driven by magnetorheological clutches for automotive active suspensions. J Intell Mater Syst Struct 2021; 32: 955–970.