An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control
Advanced driving algorithms, control strategies, and their optimization in self-driving vehicles in various scenarios are hotspots in current research; 4WS-4WD (four-wheel steering and four-wheel drive) is another hotspot in the study of new concept models; and the nonlinear dynamic characteristics...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-01-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/12/1/84 |
| _version_ | 1797343146104848384 |
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| author | Xuan Xu Kang Wang Qiongqiong Li Jiafu Yang |
| author_facet | Xuan Xu Kang Wang Qiongqiong Li Jiafu Yang |
| author_sort | Xuan Xu |
| collection | DOAJ |
| description | Advanced driving algorithms, control strategies, and their optimization in self-driving vehicles in various scenarios are hotspots in current research; 4WS-4WD (four-wheel steering and four-wheel drive) is another hotspot in the study of new concept models; and the nonlinear dynamic characteristics of self-driving vehicles (AVs) are prominent in the fast cornering mode, which leads to a significant reduction in the accuracy and stability of trajectory tracking. Based on these research backgrounds, this paper proposes a control strategy optimization idea based on the 4WS4WD vehicle and its optimization model. The main content includes the establishment of a 3D vehicle model that takes into account vehicle load transfer and position change, and the establishment of a hierarchical control strategy based on the optimized NMPC and 4WS4WD models. The controller consists of two parts: an upper tracking controller based on the new vehicle model and NMPC, and a lower decoupled controller. The tracking control effect of the algorithmic control strategy based on the model and controller is validated in the high-speed serpentine motion mode and double-shift linear motion mode on the joint simulation platform of Car Sim and Simulink. |
| first_indexed | 2024-03-08T10:43:31Z |
| format | Article |
| id | doaj.art-99c12a6bc43a423db7b0d5cb30fcc714 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-08T10:43:31Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-99c12a6bc43a423db7b0d5cb30fcc7142024-01-26T17:25:12ZengMDPI AGMachines2075-17022024-01-011218410.3390/machines12010084An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive ControlXuan Xu0Kang Wang1Qiongqiong Li2Jiafu Yang3College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaAdvanced driving algorithms, control strategies, and their optimization in self-driving vehicles in various scenarios are hotspots in current research; 4WS-4WD (four-wheel steering and four-wheel drive) is another hotspot in the study of new concept models; and the nonlinear dynamic characteristics of self-driving vehicles (AVs) are prominent in the fast cornering mode, which leads to a significant reduction in the accuracy and stability of trajectory tracking. Based on these research backgrounds, this paper proposes a control strategy optimization idea based on the 4WS4WD vehicle and its optimization model. The main content includes the establishment of a 3D vehicle model that takes into account vehicle load transfer and position change, and the establishment of a hierarchical control strategy based on the optimized NMPC and 4WS4WD models. The controller consists of two parts: an upper tracking controller based on the new vehicle model and NMPC, and a lower decoupled controller. The tracking control effect of the algorithmic control strategy based on the model and controller is validated in the high-speed serpentine motion mode and double-shift linear motion mode on the joint simulation platform of Car Sim and Simulink.https://www.mdpi.com/2075-1702/12/1/84autonomous driving4WS-4WDvehicle modeltrajectory trackingnonlinear model predictive controlvehicle dynamics and control |
| spellingShingle | Xuan Xu Kang Wang Qiongqiong Li Jiafu Yang An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control Machines autonomous driving 4WS-4WD vehicle model trajectory tracking nonlinear model predictive control vehicle dynamics and control |
| title | An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control |
| title_full | An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control |
| title_fullStr | An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control |
| title_full_unstemmed | An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control |
| title_short | An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control |
| title_sort | optimal hierarchical control strategy for 4ws 4wd vehicles using nonlinear model predictive control |
| topic | autonomous driving 4WS-4WD vehicle model trajectory tracking nonlinear model predictive control vehicle dynamics and control |
| url | https://www.mdpi.com/2075-1702/12/1/84 |
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