TY - GEN
T1 - Energy optimization of lateral motions for autonomous ground vehicles with four-wheel steering control
AU - Wang, Fengchen
AU - Xu, Peidong
AU - Li, Ao
AU - Chen, Yan
N1 - Publisher Copyright:
Copyright © 2019 ASME
PY - 2019
Y1 - 2019
N2 - In this paper, a hierarchical optimal four-wheel steering (4WS) controller is proposed to enhance the energy saving for vehicle lateral motions. By the integration of the four-wheel vehicle dynamics, wheel dynamics, and tire model, the vehicle propulsion power consumption is derived with respect to the front and rear wheel steering angles as control inputs. In the high level of the proposed controller, an autonomous path following control is developed to provide virtual control inputs including the lateral forces and yaw moment via the dynamic sliding mode control design. In the low level, the high-level virtual control inputs are distributed to the front and rear steering angles, in which the energy optimization problem is solved. The objective function of the optimization problem aims to minimize the vehicle propulsion power consumption and virtual control tracking error. Furthermore, the requirements of the vehicle stability and the path following accuracy are considered in the constraints. Verified by CarSim® and MATLAB/Simulink® co-simulation, the proposed 4WS hierarchical energy optimization controller can successfully reduce the power loss for vehicle lateral motions.
AB - In this paper, a hierarchical optimal four-wheel steering (4WS) controller is proposed to enhance the energy saving for vehicle lateral motions. By the integration of the four-wheel vehicle dynamics, wheel dynamics, and tire model, the vehicle propulsion power consumption is derived with respect to the front and rear wheel steering angles as control inputs. In the high level of the proposed controller, an autonomous path following control is developed to provide virtual control inputs including the lateral forces and yaw moment via the dynamic sliding mode control design. In the low level, the high-level virtual control inputs are distributed to the front and rear steering angles, in which the energy optimization problem is solved. The objective function of the optimization problem aims to minimize the vehicle propulsion power consumption and virtual control tracking error. Furthermore, the requirements of the vehicle stability and the path following accuracy are considered in the constraints. Verified by CarSim® and MATLAB/Simulink® co-simulation, the proposed 4WS hierarchical energy optimization controller can successfully reduce the power loss for vehicle lateral motions.
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U2 - 10.1115/DSCC2019-9003
DO - 10.1115/DSCC2019-9003
M3 - Conference contribution
AN - SCOPUS:85076434696
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Y2 - 8 October 2019 through 11 October 2019
ER -