This paper presents a method to design path tracking controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) systems equipped in in-wheel motor-driven electric vehicles (IWM-EVs). Generally, it is difficult calculate the angles of 4WIS braking/traction torques 4WIB/4WID for control. Moreover, there have been limitations an error dynamics-based controller, which r...

For the parallel parking problem in narrow space, this paper proposes a trajectory tracking control method with novel planning layer for autonomous based on numerical optimization algorithm and model predictive control. In layer, vehicle kinematics suitable low-velocity scene is established. Considering physical constraints, boundary condition obstacle avoidance constraints during process, task...

This paper presents a novel motion control strategy based on model predictive (MPC) for distributed drive electric vehicles (DDEVs), aiming to simultaneously the longitudinal and lateral while considering efficiency driving feeling. Initially, we analyze vehicle’s dynamic model, vehicle body in-wheel motors, establish foundation control. Subsequently, propose direct (MPDMC) approach that utiliz...

The rapid development of automated driving technology has brought many emerging technologies. collision avoidance (CA) function by braking and/or steering maneuver advanced driver assistance systems (ADAS), which contributes to the improvement safety vehicles, been playing an important role in recent modern passenger cars and commercial vehicles. When vehicle needs avoid multiple obstacles at s...

The premise of vehicle intelligent decision making is to obtain motion state parameters accurately and in real-time. Several cannot be measured directly by sensors, so estimation algorithms based on filtering are effective solutions. most representative algorithm the Kalman filter, especially standard unscented filter (UKF) that has been widely used because its superiority dealing with nonlinea...

Safe and efficient autonomous lane changing is a key step of connected automated vehicles (CAVs), which can greatly reduce the traffic accident rate relieve pressure. Aiming at requirements smoothness efficiency lane-changing trajectory CAVs, it necessary to design controller integrate sensing, decision-making, control tasks in driving process. Firstly, based on vehicle dynamics model, this pap...

The water accumulated in the rutted road sections poses a threat to safety of vehicles. Water-filled ruts will cause partial or complete loss friction between tires and surface, leading driving hazards such as hydroplaning sliding. At present, maximum depth left right is mostly adopted analyze water-filled ruts, ignoring uneven change direction cross-section direction, which cannot fully reflec...

Abstract In this paper an active controller for ground vehicles stability is presented. The objective of to force the vehicle track a desired reference, ensuring safe driving conditions in case adhesion loss during hazardous maneuvers. To aim, nonlinear discrete-time inverse optimal control based on neural network identification designed, using recurrent high order (RHONN) trained by Extended K...