Design of Integrated Autonomous Driving Control System That Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability
This paper describes an integrated autonomous driving (AD) control system for an autonomous vehicle with four independent in-wheel motors (IWMs). The system consists of two parts: the AD controller and the chassis controller. These elements are functionally integrated to improve vehicle stability an...
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| Veröffentlicht in: | Electronics (Basel) 2021-01, Vol.10 (2), p.144 |
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| creator | Ahn, Taewon Lee, Yongki Park, Kihong |
| description | This paper describes an integrated autonomous driving (AD) control system for an autonomous vehicle with four independent in-wheel motors (IWMs). The system consists of two parts: the AD controller and the chassis controller. These elements are functionally integrated to improve vehicle stability and path tracking performance. The vehicle is assumed to employ an IWM independently at each wheel. The AD controller implements longitudinal/lateral path tracking using proportional-integral(PI) control and adaptive model predictive control. The chassis controller is composed of two lateral control units: the active front steering (AFS) control and the torque vectoring (TV) control. Jointly, they find the yaw moment to maintain vehicle stability using sliding mode control; AFS is prioritized over TV to enhance safety margin and energy saving. Then, the command yaw moment is optimally distributed to each wheel by solving a constrained least-squares problem. Validation was performed using simulation in a double lane change scenario. The simulation results show that the integrated AD control system of this paper significantly improves the path tracking capability and vehicle stability in comparison with other control systems. |
| doi_str_mv | 10.3390/electronics10020144 |
| format | Article |
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The system consists of two parts: the AD controller and the chassis controller. These elements are functionally integrated to improve vehicle stability and path tracking performance. The vehicle is assumed to employ an IWM independently at each wheel. The AD controller implements longitudinal/lateral path tracking using proportional-integral(PI) control and adaptive model predictive control. The chassis controller is composed of two lateral control units: the active front steering (AFS) control and the torque vectoring (TV) control. Jointly, they find the yaw moment to maintain vehicle stability using sliding mode control; AFS is prioritized over TV to enhance safety margin and energy saving. Then, the command yaw moment is optimally distributed to each wheel by solving a constrained least-squares problem. Validation was performed using simulation in a double lane change scenario. The simulation results show that the integrated AD control system of this paper significantly improves the path tracking capability and vehicle stability in comparison with other control systems.</description><identifier>ISSN: 2079-9292</identifier><identifier>EISSN: 2079-9292</identifier><identifier>DOI: 10.3390/electronics10020144</identifier><language>eng</language><publisher>Basel: MDPI AG</publisher><subject>Active control ; Adaptive control ; Algorithms ; Autonomous vehicles ; Chassis ; Control equipment ; Control stability ; Controllers ; Electric vehicles ; Kinematics ; Lane changing ; Lateral control ; Least squares method ; Methods ; Optimization ; Path tracking ; Predictive control ; Proportional integral ; Safety margins ; Sliding mode control ; Steering ; Tracking control ; Yawing moments</subject><ispartof>Electronics (Basel), 2021-01, Vol.10 (2), p.144</ispartof><rights>2021. This work is licensed under http://creativecommons.org/licenses/by/3.0/ (the “License”). 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The system consists of two parts: the AD controller and the chassis controller. These elements are functionally integrated to improve vehicle stability and path tracking performance. The vehicle is assumed to employ an IWM independently at each wheel. The AD controller implements longitudinal/lateral path tracking using proportional-integral(PI) control and adaptive model predictive control. The chassis controller is composed of two lateral control units: the active front steering (AFS) control and the torque vectoring (TV) control. Jointly, they find the yaw moment to maintain vehicle stability using sliding mode control; AFS is prioritized over TV to enhance safety margin and energy saving. Then, the command yaw moment is optimally distributed to each wheel by solving a constrained least-squares problem. Validation was performed using simulation in a double lane change scenario. The simulation results show that the integrated AD control system of this paper significantly improves the path tracking capability and vehicle stability in comparison with other control systems.</description><subject>Active control</subject><subject>Adaptive control</subject><subject>Algorithms</subject><subject>Autonomous vehicles</subject><subject>Chassis</subject><subject>Control equipment</subject><subject>Control stability</subject><subject>Controllers</subject><subject>Electric vehicles</subject><subject>Kinematics</subject><subject>Lane changing</subject><subject>Lateral control</subject><subject>Least squares method</subject><subject>Methods</subject><subject>Optimization</subject><subject>Path tracking</subject><subject>Predictive control</subject><subject>Proportional integral</subject><subject>Safety margins</subject><subject>Sliding mode control</subject><subject>Steering</subject><subject>Tracking control</subject><subject>Yawing moments</subject><issn>2079-9292</issn><issn>2079-9292</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNptUUtLAzEQDqJgqf0FXgKeV7NJ9pFjaX0UCgqtXpdsdrabupvUJCv0r_hr3bYKHpzLzDDfY-BD6Domt4wJcgctqOCs0crHhFASc36GRpRkIhJU0PM_8yWaeL8lQ4mY5YyM0NccvN4YbGu8MAE2Tgao8LQP1tjO9h7Pnf7UZoNn1gwmLV7tfYAOrxsZBoaybmcPHI9njfRe-19gC87j2jq86HbOHiVeZGjw2kn1ftzADedOGgVYmgq_QaNVC3gVZKlbHfZX6KKWrYfJTx-j14f79ewpWj4_LmbTZaQYpSFKIIM0zoFXUtSlYAkXpCKE84zxHOpYElqmVKiMppKTSigmuKrKhImsZmUCbIxuTrrDnx89-FBsbe_MYFlQnuU053meDih2QilnvXdQFzunO-n2RUyKQw7FPzmwb930gaU</recordid><startdate>20210101</startdate><enddate>20210101</enddate><creator>Ahn, Taewon</creator><creator>Lee, Yongki</creator><creator>Park, Kihong</creator><general>MDPI AG</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L7M</scope><scope>P5Z</scope><scope>P62</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><orcidid>https://orcid.org/0000-0003-3754-2711</orcidid><orcidid>https://orcid.org/0000-0003-1350-0082</orcidid><orcidid>https://orcid.org/0000-0002-8575-0374</orcidid></search><sort><creationdate>20210101</creationdate><title>Design of Integrated Autonomous Driving Control System That Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability</title><author>Ahn, Taewon ; 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| source | Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals; MDPI - Multidisciplinary Digital Publishing Institute |
| subjects | Active control Adaptive control Algorithms Autonomous vehicles Chassis Control equipment Control stability Controllers Electric vehicles Kinematics Lane changing Lateral control Least squares method Methods Optimization Path tracking Predictive control Proportional integral Safety margins Sliding mode control Steering Tracking control Yawing moments |
| title | Design of Integrated Autonomous Driving Control System That Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability |
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