Robust overtaking control of autonomous electric vehicle with parameter uncertainties

In this paper, the authors propose a two-layer overtaking control framework of the autonomous electric ground vehicle, including trajectory planning and tracking control. In the upper layer, a stable overtaking trajectory is derived by considering the duration of the overtaking, driving comfort and vehicle stability simultaneously. Besides, the safety spacing between the overtaking and overtaken vehicles is analyzed to prevent the potential collision. To track the generated reference trajectory precisely, the authors design a robust model predictive controller adopting the input-to-state stability property in the lower layer to reduce the affection of disturbances and parameter uncertainties. Two driving strategies with different lateral accelerations, that is, mild and aggressive, are simulated to verify the effectiveness of the proposed control framework. By comparing to the driver-vehicle control system, the proposed control framework can not only achieve safe, smooth, and rapid overtaking but also realize the accurate state tracking in the presence of tire cornering stiffness uncertainty.

• Record URL:
  https://doi.org/10.1177/0954407018824522
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/09544070
• Supplemental Notes:
  • © IMechE 2019.
• Authors:
  • Xu, Liwei
  • 0000-0003-0410-917X
  • Zhuang, Weichao
  • Yin, Guodong
  • Li, Guangmin
  • Bian, Chentong
  • 0000-0001-5186-8393
• Publication Date: 2019-11

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 3358-3376
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
  • Volume: 233
  • Issue Number: 13
  • Publisher: Sage Publications Limited
  • ISSN: 0954-4070
  • EISSN: 2041-2991
  • Serial URL: http://pid.sagepub.com/content/current

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Control systems; Electric vehicles; Mathematical prediction; Passing; Stability (Mechanics); Uncertainty
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01722515
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 15 2019 1:45PM