The most critical obstacle for four-wheel independently driven electric vehicles (4WID-EVs) is the driving range. Being actuators of 4WID-EVs, motors account its major power consumption. In this sense, by properly distributing torques to minimize consumption, range 4WID-EV can be effectively improved. This paper proposes a model predictive control (MPC)-based torque distribution scheme, which m...

This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering transient performance system disturbances. The robust integral of sign error (RISE) strategy is proposed to achieve purpose with rollover prevention, by guaranteeing asymptotic stability closed-loop system, attenuating systematic disturbances, maintaining controlled states wi...

Accurate and real-time acquisition of vehicle state parameters is key to improving the performance control systems. To improve accuracy parameter estimation for distributed drive electric vehicles, an unscented Kalman filter (UKF) algorithm combined with Huber method proposed. In this paper, we introduce nonlinear modified Dugoff tire model, build a three-degrees-of-freedom time-varying paramet...

Autonomous driving technologies have received notable attention in the past decades. In autonomous systems, identifying a precise dynamical model for motion control is nontrivial due to strong nonlinearity and uncertainty vehicle dynamics. Recent efforts resorted machine learning techniques building models, but generalization ability interpretability of existing methods still need be improved. ...

To highlight the advantages of autonomous vehicles (AVs) in modern traffic, it is necessary to investigate sensing requirement parameters road environment during vehicle braking process. Based on texture information obtained using a field measurement, model an AV was built Simulink and ride comfort under typical scenarios analyzed CarSim/Simulink co-simulation. The results showed that proposed ...

in this paper, the enhancement of vehicle stability and handling is investigated by control of the active geometry suspension system (ags). this system could be changed through control of suspension mounting point’s position in the perpendicular direction to wishbone therefore the dynamic is alternative and characteristics need to change. for this purpose, suitable controller needs to change mo...

In this paper, a new actuator fault detection and isolation method for a four wheel independent drive electric vehicle is proposed. Also, a controller based on sliding mode control method is proposed for lateral stability of the vehicle. The proposed control method is designed in three high, medium and low levels. At the high-level, the vehicle desired dynamics such as longitudinal speed refere...

In this paper, the enhancement of vehicle stability and handling is investigated by control of the active geometry suspension system (AGS). This system could be changed through control of suspension mounting point’s position in the perpendicular direction to wishbone therefore the dynamic is alternative and characteristics need to change. For this purpose, suitable controller needs to change...

In this paper, we address the problem of trajectory tracking control autonomous vehicles by considering nonlinear characteristics tires. By influence tires’ dynamics on steering stability, proposed predictive controller can track desired and velocity in presence road curvature while minimizing lateral deviation. First all, a hierarchical structure is adopted, which upper-level used to calculate...