Aiming at precisely tracking an intelligent vehicle on a desired trajectory, this paper proposes trajectory planning and control strategy based improved terminal sliding mold. Firstly, the traditional RRT algorithm is by using target bias separation axis theorem to improve search efficiency. Secondly, mode controller designed. The comprehensively considers lateral error heading of control, stab...

Vehicle driving safety is an important performance indicator for vehicles, and there still much room development in the active control of electric vehicles. Vehicles are susceptible to rollover when making sharp turns or overtaking at high speed. In order improve anti-rollover stability vehicles (EV), this study proposes a real-time motor strategy, mainly according acquisition vehicle attitude ...

In order to realize the lane-changing maneuver of Connected Autonomous Vehicles (CAV), a lateral controller based on model predictive control is developed with three degrees freedom vehicle dynamic model. Then synthesized track reference trajectory fitted by quintic Bézier curve. The validated MATLAB/CarSim under different road adhesion conditions and driving speeds. Results show that for speed...

In this paper, output power distribution algorithm is proposed for the front- and rear-motors through system of four-wheel-drive (4WD) electric vehicles. Through system, optimal control obtained by applying a rate that increases battery range improving efficiency. Optimization according to vehicle driving conditions reduces unnecessary power- loss improves its energy efficiency high-efficiency ...

In order to improve the active safety of vehicles, control strategy vehicle automatic emergency braking system is studied. The hierarchical idea used model strategy. upper controller a collision time for decision-making deceleration, and threshold determined under condition considering comfort. According deceleration output by controller, lower controls adjusting throttle opening pipeline press...

Designing cyber-physical systems (CPS) is challenging due to the tight interactions between software, network/platform, and physical components. Automotive control system is a typical CPS example and often designed based on a time-triggered paradigm. In this paper, a co-simulation framework that considers interacting CPS components for assisting time-triggered automotive CPS design is proposed....

An integrated fault-diagnosis algorithm for a motor sensor of in-wheel independent drive electric vehicles is presented. This paper proposes a method that integrates the high- and low-level fault diagnoses to improve the robustness and performance of the system. For the high-level fault diagnosis of vehicle dynamics, a planar two-track non-linear model is first selected, and the longitudinal an...

This paper presents an integrated human driver model for a closed-loop simulation of the intelligent safety system. A lateral human driver model was developed to represent the steering behavior of a human driver using the finite preview optimal control method. A longitudinal human driver model represents a human driver’s throttle and brake control behavior relative to the preceding vehicle moti...