This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Stability Control of Autonomous Vehicles with Four In-Wheel Motor Drive for Severe Environments
Technical Paper
2017-01-2001
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
Research and development of autonomous functions for a road vehicle become increasingly active in recent years. However, the vehicle driving dynamics performance and safety are the big challenge for the development of autonomous vehicles especially in severe environments. The optimum driving dynamics can only be achieved when the traction torque on all wheels can be influenced and controlled precisely. In this study, we present a novel approach to this problem by designing an advanced torque vectoring controller for an autonomous vehicle with four direct-drive in-wheel motors to generate and control the traction torque and speed quickly and precisely, thus to improve the stability and safety of the autonomous vehicle. A four in-wheel motored autonomous vehicle equipped with Radar and camera is modelled in PanoSim software environment. Vehicle-to-Vehicle (V2V) communication is used in this software platform to avoid collision. Individual in-wheel motor control systems are integrated and networked together using a high-level advanced vectoring control system. The proposed vectoring control system can monitor and manage the behavior of the individual subsystems, assigning appropriate tasks to each of them according to the driving maneuver and road conditions. The performance and effectiveness of the proposed vectoring control system is evaluated using standard test maneuvers. Simulation results show that the proposed advanced torque vectoring controller can improve the vehicle steadiness and transient response properties, thereby enhancing the stability performance compared with the conventional central motor controller particularly for severe environment conditions.
Recommended Content
Technical Paper | Intention Aware Motion Planning with Model Predictive Control in Highway Merge Scenario |
Technical Paper | Millimetre-Wave Automotive Radar Advance Path Measurement |
Authors
Topic
Citation
Li, X., Situ, L., Yu, Y., and Chen, F., "Stability Control of Autonomous Vehicles with Four In-Wheel Motor Drive for Severe Environments," SAE Technical Paper 2017-01-2001, 2017, https://doi.org/10.4271/2017-01-2001.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- Todd , L. Autonomous Vehicle Implementation Predictions: Implications for Transport Planning Traffic Technology International 36 42 2014
- Tesla Website https://www.tesla.com
- Sivaji , V. and Sailaja , M. Adaptive Cruise Control Systems for Vehicle Modeling Using Stop and Go Manoeuvres International Journal of Engineering Research and Applications 2453 2456 2013
- Mun , H. , Kim , G. and Kim , B. AEB System for a Curved Road Considering V2V-based Road Surface Conditions Advanced Science and Technology Letters 8 13 2015
- Junyeon , H. , Kunsoo , H. , Hyukmin , N. and Hogi , J. Evaluation of Lane Keeping Assistance Controllers in HIL Simulations The International Federation of Automatic Control 2008
- PanoSim Website
- Hilton , C. Wheel Torque and Speed in a Vehicle with In-Wheel Motors Protean Electric Ltd 2016
- Hongwen , H. , Jiankun , P. , Rui , X. and Hao F. An Acceleration Slip Regulation Strategy for Four-Wheel Drive Electric Vehicles Based on Sliding Mode Control Energies 2014
- Kang , J. , Yoo , J. and Yi , K. Driving Control Algorithm for Maneuverability, Lateral Stability, and Rollover Prevention of 4WD Electric Vehicles with Independently Driven Front and Rear Wheels IEEE Transactions on Vehicular Technology 2987 3001 2011
- Gim , H. L. , Friedrich , F. and Marc , P. Motion Estimation for Self-Driving Cars with a Generalized Camera Computer Vision Foundation 2013
- Giulio , R. , David , J. and James U. Radar Sensing for Intelligent Vehicles in Urban Environments Sensors 14661 14678 2015 10.3390/s150614661
- James , L. and John , L. Electric Vehicle Technology Explained John Wiley & Sons, Ltd. 0-470-85163-5 2003
- Pan , Z. , Jiajia , C. , Yan S. and Xiang T. Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID International Journal of Advanced Robotic Systems 2012
- Cheng , L. and Zhifeng , X. Wheel Torque Distribution of Four-Wheel-Drive Electric Vehicles Based on Multi-Objective Optimization Energies 3815 3831 2015 10.3390/en8053815
- Abdelfatah , N. , Brahim , G. , and Ben , M.F. Sliding Mode Control for Four Wheels Electric Vehicle Drive International Conference Interdisciplinary in Engineering 2015
- David , M. , Carlos , M. , Eduardo , F. C. and Carlos , B. Torque Distribution Strategy for a Four In-wheel Fully Electric Car CEA-IFAC 2015
- Kiumars , J. Stability Control of Electric Vehicles with In-wheel Motors A thesis presented to the University of Waterloo in fulfillment of the thesis requirement for the degree of Doctor of Philosophy 2010
- Dejun , Y. , and Yoichi H. A Novel Traction Control for Electric Vehicle without Chassis Velocity, Motion Control Federico Casolo (Ed.) 978-953-7619-55-8 2010
- Kada , H. , Abdelkader , M. and Azeddine , D. Stability Enhancement of Four-in-Wheel Motor-Driven Electric Vehicles Using an Electric Differential System Journal of Power Electronics 1244 1255 2015
- Merzoug , M. S. and Naceri , F. Comparison of Field-Oriented Control and Direct Torque Control for Permanent Magnet Synchronous Motor (PMSM) International Journal of Electrical, Computer, Energetic, Electronic and Communication Engineering 2008