Active Safety Control of Automated Electric Vehicles at Driving Limits: A Tube-Based MPC Approach

To enhance the active safety performance for automated electric vehicles (AEVs) at driving limits, the collaborative control of four-wheel steering (4WS) and direct yaw-moment control (DYC) is adopted. To deal with external disturbance and modeling error, tube-based model predictive control (MPC) is applied to the control algorithm design, which takes the improvement of handling stability and path-tracking performance into consideration. Taking the constraints into account, including control vector constraints, lateral stability constraints, rollover prevention constraints, and path-tracking error constraints, the integrated controller is designed and worked out by addressing the optimization issue. To verify the effectiveness and feasibility of the integrated controller, two extreme driving conditions are conducted based on hardware-in-the-loop (HIL) tests. The test results indicate that the integrated controller can improve vehicle’s handling stability and path-tracking performance in unison at driving limits. Besides, the integrated controller shows strong robustness in extreme conditions.

• Record URL:
  http://dx.doi.org/10.1109/TTE.2021.3100843
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23327782
• Supplemental Notes:
  • Copyright © 2022, IEEE.
• Authors:
  • Hang, Peng
  • 0000-0002-5843-0594
  • Xia, Xin
  • 0000-0002-5108-7578
  • Chen, Guang
  • 0000-0002-7416-592X
  • Chen, Xinbo
• Publication Date: 2022-3

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1338-1349
• Serial:
  • IEEE Transactions on Transportation Electrification
  • Volume: 8
  • Issue Number: 1
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2332-7782
  • Serial URL: http://ieeexplore.ieee.org/servlet/opac?punumber=6687316

Subject/Index Terms

• TRT Terms: Active safety systems; Dynamic stability; Electric vehicles; Four wheel steering; Intelligent vehicles; Yaw
• Identifier Terms: Model Predictive Control
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01849667
• Record Type: Publication
• Files: TRIS
• Created Date: Jun 24 2022 5:07PM