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Zhigen Nie,Zhongliang Li,Wanqiong Wang,Yufeng Lian,Rachid Outbib 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.1
Dynamic trajectory planning (DTP) and Dynamic trajectory tracking (DTT) are the real-time mutual coupling in the process of the dynamic lateral obstacle avoidance (DLOA) of connected and automated vehicles (CAVs). Meanwhile, the varying velocity and acceleration of obstacle vehicles (OVs) increase the difficulties of DTP. Furthermore, the parameters perturbation in CAVs (such as mass and cornering stiffness), the varying velocities of CAVs and the signal disturbances, raise the difficulties of DTT. Therefore, the DLOA is challenging due to the interaction of the above multiple factors. To address the problem, this paper proposes a robust gain-scheduling control strategy of DLOA for CAVs. The strategy is divided into two modules namely DTP and DTT, and the two modules cooperate with each other in real time. In the module of DTP, the optimal trajectory considering the efficiency, passenger comfort and safety is real-time optimized in the dynamic safe limit which is real time predicted according to the information from CAVs and OVs. In the module of DTT, the real-time trajectory reference is tracked. Robust gain-scheduling control is realized to cope with variation of real-time trajectory reference, varying velocity, parameters perturbation and signal disturbances during the process of DLOA. The simulation results indicate that the strategy can effectively achieve DLOA maintaining the vehicle stability across various working conditions.
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Lian Yufeng,Liu Shuaishi,Zhongbo Sun,Liu Keping,Nie Zhigen,Tian Chongwen 한국자동차공학회 2021 International journal of automotive technology Vol.22 No.4
This paper presents an active collision avoidance system based on a braking force distribution strategy for four-in-wheel-motor-driven electric vehicles (FIWMD-EVs) on roads with different friction coefficients. There are three major contributions in the proposed braking force distribution strategy. Firstly, the braking force distribution strategy based on constrained regenerative braking strength continuity (CRBSC) is further improved, and its general analytic expressions are derived. It provides the theoretical basis of braking force distribution between front and rear wheels. Secondly, the braking forces between front and rear wheels can be redistributed by considering power demand efficiency (PDE) to protect energy storage system from overcharge. Finally, the braking forces between left and right wheels can be distributed with different adhesion coefficients to adapt to complex roads. Simulations using rapid control prototyping (RCP) and hardware-in-the-loop (HIL) simulator are performed to demonstrate the effectiveness of control scheme and adaptability of the active collision avoidance system based on the proposed braking force distribution strategy on complex roads.
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