The over-actuated characteristics of distributed drive electric vehicles (DDEVs) provide a flexible platform to pursue higher holistic performance. This article proposes dual-model predictive control (MPC)-based hierarchical framework realize the energy saving while improving handling stability for DDEVs. upper layer allocates torque vector through front/rear axles, which can high-efficiency zone in-wheel motors and reduce consumption. lower generates direct-yaw-moment (DYC) input by...

Abstract Many surveys on vehicle traffic safety have shown that the tire road friction coefficient (TRFC) is correlated with probability of an accident. The accidents increases sharply slippery surfaces. Therefore, accurate knowledge TRFC contributes to optimization driver maneuvers for further improving intelligent vehicles. A large number researchers employed different tools and proposed algorithms obtain TRFC. This work investigates these methods been widely utilized estimate These are...

The direct yaw moment control system of distributed drive electric vehicles provides a flexible scheme to enhance the vehicle stability through four independently driven in-wheel motors. However, nonlinearities may lead invalidation control. To this end, Takagi–Sugeno (T-S) fuzzy-based robust <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H∞</i> method is proposed ensure performance while addressing nonlinear challenge. First, thanks T-S...

Human-machine mutual trust has become one of the important factors restricting steer-by-wire vehicles due to removal mechanical connections. To this end, article proposes a hierarchical shared steering control framework based on human-machine evaluation. The upper level aims evaluate level. driver's in machine is evaluated by difference. And machine's driver skills. lower dynamically optimize authority allocation considering varying states. fuzzy method adopted calculate reference value...

Cooperative on-ramp merging control for connected and automated vehicles (CAVs) can effectively improve traffic throughput vehicle fuel efficiency at highway bottlenecks. However, in the mixed scenario where CAVs human-driven (HDVs) coexist, uncertain maneuvers of human drivers pose a major challenge to terms safety flexibility. To this end, paper proposes hierarchical cooperative strategy optimize flexible trajectories with guarantees traffic. First, problem is considered case three-vehicle...

The implementation of direct yaw moment control (DYC) in distributed drive electric vehicles brings greater potential for enhancing vehicle maneuverability and stability performance. Therefore, this paper introduces a robust framework driver assistance by integrating the active front-wheel steering (AFS) system DYC, aiming to improve overall First, behavior is modeled incorporated into path-tracking (DDEV). This integration facilitates comprehensive consideration characteristics during...

This paper proposes an event-triggered control method for the CAN-network delayed human-machine shared steering system. The uncertain model parameter of vehicle speed is handled by polytypic technology, and then represented a new state with fewer vertices. Thus, driver-vehicle path-tracking built. After that, communication scheme considering CAN network delays redefined system (ETS). Instead employing periodic from sensor to controller, it only occurs when triggered condition ETS satisfied....

This paper presents a robust fuzzy H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control strategy for improving vehicle lateral stability and handling performance through integration of direct yaw moment system (DYC) active front steering. Since dynamics possesses inherent nonlinearities, the main objective is dedicated to deal with nonlinear challenge in by applying Takagi-Sugeno (T-S) modeling approach. First, Brush tire functions...

This paper presents an integrated platoon control framework for heterogeneous vehicles on curved roads with varying slopes, aerodynamic drag, and wireless communication delays. First, a linear vehicle model decoupled longitudinal lateral dynamics is built based nonlinear feedback linearization arc-length parametric transformation of arbitrary road. The external disturbances are also considered, including the up-down road wind equivalent time-delays caused by delay discrete data in onboard...

Reconstitution of control architecture creates a great challenge for distributed drive electric vehicles (DDEV), due to the emergence new driving strategy. To this end, novel is proposed in paper integrated active front steering (AFS) system and direct yaw moment (DYC) system. First, multi-agent (MAS) employed construct general framework, where AFS DYC act as agents that work together improve vehicle lateral stability simultaneously reduce workloads drivers during path tracking. The...

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with separately, the yaw stability is seldom considered during In this research, a combination longitudinal–lateral method in for vehicles studied. Based dynamics, considering longitudinal lateral vehicle, problems can be attributed to control. A sliding mode variable structure used total driving force obtained from error order carry out linear...

Long queues of vehicles are often found at signalized intersections, which increases the energy consumption all involved. This paper proposes an enhanced eco-approach control (EEAC) strategy with consideration queue ahead for connected electric (EVs) a intersection. The discharge movement vehicle is predicted by improved prediction method (IQDP), takes both and driver dynamics into account. Based on queue, EEAC designed hierarchical framework: upper-stage uses dynamic programming to find...

Abstract This paper proposes a robust vibration controller design for active suspension system of in-wheel-motor-driven electric vehicles (IWMD-EVs) based on unified μ-synthesis framework. First, multiple parameter uncertainties and unmodeled high-order dynamics the are analyzed discussed. By applying mixed linear fraction transformation, model perturbations separated from their perturbation bounds can also be limited. Then, uncertain quarter-vehicle with dynamic damping is established, in...

This paper studies the distributed dynamic event-triggered model predictive control (MPC) of vehicle platoon systems subject to denial-of-service (DoS) attacks and external disturbances. We develop a novel DoS-attack-aware mechanism for each determine whether MPC problem should be solved or not at sampling time instant. If is solved, constructed vehicular beacon information will transmitted its neighbouring vehicles through ad-hoc network (VANET). In condition, threshold adjusts adaptively...

Hybrid electric vehicles (HEVs) have great prospects in reducing fossil fuel consumption, and adaptive cruise control (ACC) technology provides safe convenient travel for drivers. The fusion of the two technologies can theoretically improve safety, comfort, economy vehicles. Hence, energy management strategy (EMS) Prius, a typical HEV configuration, is studied under car-following scenario. This optimization problem involves complex systems, inconsistent objectives, stringent constraints,...

This paper presents a robust finite frequency <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${H} _{\infty }$ </tex-math></inline-formula> control strategy for improving vibration performance and ride comfort of electric vehicles through in-wheel motor-active suspension system(IWM-ASS). Since the human body is much sensitive to vertical 4 -8 Hz, main objective dedicated deal with challenge that matches...

The uncertainties of driver's behavior seriously affect road safety and bring significant challenges to the human-machine cooperative control. This paper proposes a shared control framework considering time-varying characteristics improve co-driving cooperation performance. Firstly, driving intention is introduced describe involvement level through using Gauss-Bernoulli restricted Boltzmann machine method. And index ability proposed evaluate driver skills based on path-tracking errors. Then,...

The rapid development of the active front-wheel steering technique makes it possible to pursue precise, fast, and reliable path-tracking control for autonomous vehicles. To mitigate impact time-varying model parameters system disturbances on performance, this paper proposes a continuous-time solving scheme path- tracking problem, which combines robust predictive (RMPC) technique, non-parallel distributed compensation (non-PDC) method, polytopic model. First, considering longitudinal vehicle...