Tire slip angle estimation based lateral stability control strategy for trajectory tracking scenarios of DDAEV

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-04-08 DOI:10.1016/j.conengprac.2025.106343

Ziheng Dong, Xing Xu, Shenguang He, Zhongwei Wu, Ju Xie, Te Chen

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引用次数: 0

Abstract

This paper proposes an autonomous steering control framework for Distributed Drive Autonomous Electric Vehicles (DDAEV). This framework aims to enhance trajectory tracking accuracy and vehicle stability in challenging road conditions, such as rain and snow. The methodology begins with the design of a tire slip angle estimation strategy, which utilizes a 2-DoF single-track vehicle model and a sliding mode observer to account for tire cornering characteristics. Next, a lateral stability control strategy that incorporates tire slip angle considerations is developed based on sliding mode control (SMC) and lateral stability analysis. Additionally, a trajectory tracking control strategy is proposed, integrating a dual-motor autonomous steering system. This system combines model predictive control (MPC) and a steering rack displacement tracking controller to achieve accurate tracking of the target trajectory. Finally, simulation and Hardware-in-the-Loop (HiL) test results demonstrate that the proposed control framework for DDAEVs significantly enhances trajectory tracking accuracy and stability under wet road surface.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.