Four-wheel-drive vehicle trajectory tracking control at joint planning layer
Because the real road conditions are complex and changeable, the vehicle cannot drive normally according to the predetermined trajectory. Therefore, for the four-wheel drive electric vehicle, a trajectory tracking control method of joint planning layer is proposed. First, in the process of vehicle t...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-08-01
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| Series: | Frontiers in Energy Research |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fenrg.2022.960879/full |
| _version_ | 1828353304409669632 |
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| author | Aijuan Li Wenyao Han Gang Liu Xin Huang Xibo Wang Qi Zhang Qi Zhang |
| author_facet | Aijuan Li Wenyao Han Gang Liu Xin Huang Xibo Wang Qi Zhang Qi Zhang |
| author_sort | Aijuan Li |
| collection | DOAJ |
| description | Because the real road conditions are complex and changeable, the vehicle cannot drive normally according to the predetermined trajectory. Therefore, for the four-wheel drive electric vehicle, a trajectory tracking control method of joint planning layer is proposed. First, in the process of vehicle trajectory tracking, the obstacle avoidance trajectory is planned for the dynamic obstacle environment. Then, an MPC trajectory tracking controller with a velocity planning module is designed to reduce the lateral acceleration of the vehicle avoiding obstacles at high speed during trajectory tracking. Finally, CarSim/Simulink co-simulation verification and hardware-in-the-loop (HIL) simulation verification are carried out to verify the performance of the controller. The simulation results show that the trajectory planning module can successfully plan the trajectory of obstacle avoidance, and the improved MPC controller can effectively reduce the lateral acceleration of the target vehicle during trajectory tracking; HIL analysis shows that the MPC trajectory tracker with speed planning module can control the vehicle with good driving stability. Trajectory tracking control under urban road conditions will be considered in future research. |
| first_indexed | 2024-04-14T02:06:53Z |
| format | Article |
| id | doaj.art-6a3a48649eeb4e8fa3e5977eb14bef3a |
| institution | Directory Open Access Journal |
| issn | 2296-598X |
| language | English |
| last_indexed | 2024-04-14T02:06:53Z |
| publishDate | 2022-08-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Energy Research |
| spelling | doaj.art-6a3a48649eeb4e8fa3e5977eb14bef3a2022-12-22T02:18:39ZengFrontiers Media S.A.Frontiers in Energy Research2296-598X2022-08-011010.3389/fenrg.2022.960879960879Four-wheel-drive vehicle trajectory tracking control at joint planning layerAijuan Li0Wenyao Han1Gang Liu2Xin Huang3Xibo Wang4Qi Zhang5Qi Zhang6School of Automotive Engineering, Shandong Jiaotong University, Jinan, ChinaSchool of Automotive Engineering, Shandong Jiaotong University, Jinan, ChinaLabor Union, Shandong Jiaotong University, Jinan, ChinaSchool of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan, ChinaSchool of Automotive Engineering, Shandong Jiaotong University, Jinan, ChinaSchool of Control Science and Engineering, Shandong University, Jinan, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, ChinaBecause the real road conditions are complex and changeable, the vehicle cannot drive normally according to the predetermined trajectory. Therefore, for the four-wheel drive electric vehicle, a trajectory tracking control method of joint planning layer is proposed. First, in the process of vehicle trajectory tracking, the obstacle avoidance trajectory is planned for the dynamic obstacle environment. Then, an MPC trajectory tracking controller with a velocity planning module is designed to reduce the lateral acceleration of the vehicle avoiding obstacles at high speed during trajectory tracking. Finally, CarSim/Simulink co-simulation verification and hardware-in-the-loop (HIL) simulation verification are carried out to verify the performance of the controller. The simulation results show that the trajectory planning module can successfully plan the trajectory of obstacle avoidance, and the improved MPC controller can effectively reduce the lateral acceleration of the target vehicle during trajectory tracking; HIL analysis shows that the MPC trajectory tracker with speed planning module can control the vehicle with good driving stability. Trajectory tracking control under urban road conditions will be considered in future research.https://www.frontiersin.org/articles/10.3389/fenrg.2022.960879/fullfour-wheel drive vehicletrajectory planningtrajectory tracking controlmodel predictive controlspeed planning module |
| spellingShingle | Aijuan Li Wenyao Han Gang Liu Xin Huang Xibo Wang Qi Zhang Qi Zhang Four-wheel-drive vehicle trajectory tracking control at joint planning layer Frontiers in Energy Research four-wheel drive vehicle trajectory planning trajectory tracking control model predictive control speed planning module |
| title | Four-wheel-drive vehicle trajectory tracking control at joint planning layer |
| title_full | Four-wheel-drive vehicle trajectory tracking control at joint planning layer |
| title_fullStr | Four-wheel-drive vehicle trajectory tracking control at joint planning layer |
| title_full_unstemmed | Four-wheel-drive vehicle trajectory tracking control at joint planning layer |
| title_short | Four-wheel-drive vehicle trajectory tracking control at joint planning layer |
| title_sort | four wheel drive vehicle trajectory tracking control at joint planning layer |
| topic | four-wheel drive vehicle trajectory planning trajectory tracking control model predictive control speed planning module |
| url | https://www.frontiersin.org/articles/10.3389/fenrg.2022.960879/full |
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