High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently
In order to improve the output response and robustness of the lane keeping controller for the electric vehicle driven by four wheels independently (EV-DFWI), the article proposes a lane keeping controller based on the non-smooth finite-time (NoS-FT) control method. Firstly, a lane keeping control (L...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-03-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/10/6/760 |
| _version_ | 1797540287708397568 |
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| author | Qinghua Meng Xin Zhao Chuan Hu Zong-Yao Sun |
| author_facet | Qinghua Meng Xin Zhao Chuan Hu Zong-Yao Sun |
| author_sort | Qinghua Meng |
| collection | DOAJ |
| description | In order to improve the output response and robustness of the lane keeping controller for the electric vehicle driven by four wheels independently (EV-DFWI), the article proposes a lane keeping controller based on the non-smooth finite-time (NoS-FT) control method. Firstly, a lane keeping control (LKC) model was built for the EV-DFWI. Secondly, a tracking method and error weight superposition method to track error computing for the lane keeping control based on the LKC model are proposed according to the lane line information. Thirdly, a NoS-FT controller was constructed for lane keeping. It is proved that the NoS-FT controller can stabilize the system by the direct Lyapunov method. Finally, the simulations were carried out to verify that the NoS-FT controller can keep the vehicle running in the desired lane with the straight road, constant curvature road, varied curvature road, and S-bend road. The simulation results show that the NoS-FT controller has better effectiveness than the PID controller. The contributions of this article are that two kinds of tracking error computing methods of lane keeping control are proposed to deal with different conditions, and a Non-FT lane keeping controller is designed to keep the EV-DFWI running in the desired lane suffering external disturbances. |
| first_indexed | 2024-03-10T12:57:57Z |
| format | Article |
| id | doaj.art-48feed76164044e5b2e531dc39bb6916 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T12:57:57Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-48feed76164044e5b2e531dc39bb69162023-11-21T11:44:09ZengMDPI AGElectronics2079-92922021-03-0110676010.3390/electronics10060760High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels IndependentlyQinghua Meng0Xin Zhao1Chuan Hu2Zong-Yao Sun3School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaDepartment of Mechanical Engineering, University of Alaska Fairbanks, Fairbanks, AK 99775, USACollege of Engineering, Qufu Normal University, Qufu 276826, ChinaIn order to improve the output response and robustness of the lane keeping controller for the electric vehicle driven by four wheels independently (EV-DFWI), the article proposes a lane keeping controller based on the non-smooth finite-time (NoS-FT) control method. Firstly, a lane keeping control (LKC) model was built for the EV-DFWI. Secondly, a tracking method and error weight superposition method to track error computing for the lane keeping control based on the LKC model are proposed according to the lane line information. Thirdly, a NoS-FT controller was constructed for lane keeping. It is proved that the NoS-FT controller can stabilize the system by the direct Lyapunov method. Finally, the simulations were carried out to verify that the NoS-FT controller can keep the vehicle running in the desired lane with the straight road, constant curvature road, varied curvature road, and S-bend road. The simulation results show that the NoS-FT controller has better effectiveness than the PID controller. The contributions of this article are that two kinds of tracking error computing methods of lane keeping control are proposed to deal with different conditions, and a Non-FT lane keeping controller is designed to keep the EV-DFWI running in the desired lane suffering external disturbances.https://www.mdpi.com/2079-9292/10/6/760lane keeping control (LKC)non-smooth finite-time controlpreviewed trackingerror weight superpositionelectric vehicle (EV) |
| spellingShingle | Qinghua Meng Xin Zhao Chuan Hu Zong-Yao Sun High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently Electronics lane keeping control (LKC) non-smooth finite-time control previewed tracking error weight superposition electric vehicle (EV) |
| title | High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently |
| title_full | High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently |
| title_fullStr | High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently |
| title_full_unstemmed | High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently |
| title_short | High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently |
| title_sort | high velocity lane keeping control method based on the non smooth finite time control for electric vehicle driven by four wheels independently |
| topic | lane keeping control (LKC) non-smooth finite-time control previewed tracking error weight superposition electric vehicle (EV) |
| url | https://www.mdpi.com/2079-9292/10/6/760 |
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