In the study of autonomous obstacle avoidance intelligent vehicles, traditional artificial potential field method has problem that vehicle may fall into local minima and lead to failure. Therefore, this paper improves function. Based on dynamics model, a strategy jumping out based smaller steering angles is proposed. By finding angle setting suitable jump step length, enabled minima. Simulation...

In order to solve the steering stability problem of a special four-wheel independent electric vehicle, dynamic model vehicle was established analyze cause instability. A controller designed, which included upper yaw moment and lower driving force distribution controller. Based on sliding mode control algorithm, determines required while is moving by controlling rate sideslip angle. safety metho...

Existing potential functions (PFs) utilized in autonomous vehicles mainly focus on solving the path-planning problems some conventional driving scenarios; thus, their performance may not be satisfactory context of emergency obstacle avoidance. Therefore, we propose a novel model predictive controller (MPPC) combined with PFs to handle complex traffic scenarios (e.g., avoidance when sudden accid...

'Contactless' distribution plays an important role in emergency supplies transportation, and the trajectory tracking control of transport robots is key technology to achieving 'contactless' precision. In this paper, a method for was proposed based on fuzzy MPC. Firstly, kinematic model established, motion parameters were identified by recursive least square algorithm. Secondly, aiming at veloci...

To improve the stability and accuracy of quintic polynomial trajectory tracking, an MPC (model predictive control) fuzzy PID (proportional-integral-difference)- based control method are proposed. A lateral tracking controller is designed by using with rule-based horizon parameters. The controls steering angle to reduce errors. longitudinal a PID. motor torque brake pressure referring throttle/b...

Obtaining accurate vehicle driving state and road adhesion coefficient information is of great significance to many aspects the vehicle. This paper takes distributed drive electric vehicles as research object designs a joint estimation method based on theory federated-cubature Kalman filter. The corresponding nonlinear three-degree-of-freedom dynamics model established space equation obtained. ...

The modern vehicles are getting equipped with more and sensors, which allows the engineers to collect information about states of vehicle its environment during operation. This can be used increase capacity performances control systems. In this paper, a novel data-driven approach is presented compute reachability sets vehicles, semi-active suspension system. dataset, in provided by high fidelit...

Abstract In the process of obstacle avoidance, there are some problems such as low precision and poor safety in path tracking intelligent vehicles. To solve these problems, a model prediction controller with soft constraints is designed this paper. The adopts vehicle motion model, according to radius circumcircle vehicle, anti-collision constraint condition constructed improve safety. tracks it...

This study selects two degree of freedom dynamic model as the research object, and automatic parking process is analyzed. The longitudinal cascade controller speed PID position used to control motion vehicle. lateral tracking based on LQR optimal theory adopted, feedforward added form controller. Based co-simulation platform MATLAB/Simulink CarSim, function designed trajectory strategy verified...

Obtaining vehicle status in real-time and accurately during the driving process is of great significance for active safety control vehicle. In response to this problem, combining a 7-DOF dynamic model magic formula tire model, research designed time-sensitive robust double cubature Kalman filter (DCKF) observation algorithm. The DCKF algorithm addressed singular value decomposition optimize err...