Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

Yiwan Wu, Zhengqiang Chen, Rong Liu and Fan Li

Mathematical Problems in Engineering, 2018, vol. 2018, 1-10

Abstract:

This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions. The control architecture for the lane departure avoidance system is hierarchical. In the upper controller, the desired yaw rate was calculated with the consideration of vehicle-lane deviation, vehicle dynamic, and the limitation of road adhesion. In the middle controller, a sliding mode controller (SMC) was designed to control the additional yaw moment. In the lower layer, the yaw moment was produced by the optimal distribution of driving/braking torque between four wheels. Lane departure avoidance was carried out by tracking desired yaw response. Simulations were performed to study the effectiveness of the control algorithm in Carsim®/Simulink® cosimulation. Simulation results show that the proposed methods can effectively confine the vehicle in lane and prevent lane departure accidents.

Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2018/1024805.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2018/1024805.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:1024805

DOI: 10.1155/2018/1024805

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().