Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle
Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle
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DOI：
10.1080/00423110600870006
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发表时间：
2006-01
影响因子：
3.6
通讯作者：
P. Raksincharoensak;M. Nagai;M. Shino
中科院分区：
文献类型：
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作者：
P. Raksincharoensak;M. Nagai;M. Shino
提出了一种基于横向驱动转矩分配的直接横摆力矩控制（DYC）的车道保持控制策略。随着当今电动汽车的复杂结构，小型电机可以放置在每个驱动轮中，以便通过独立控制轮内电机可以轻松精确地实现DYC输入。视觉系统通过CCD摄像头和车载图像处理系统获取道路位置信息。该系统的一个特点是将CCD摄像机检测到的横向偏差转换为期望的横摆角速度，以跟踪期望的车道。然后，理论上确定横摆力矩控制输入，以从车辆动力学的观点获得期望横摆率。本文利用线性车辆模型对平面运动的车道保持控制特性进行了理论分析，并通过微型电动车的实验研究验证了所提策略的有效性。
This article presents the alternative lane keeping control strategy with direct yaw moment control (DYC) that utilizes the transverse driving torque distribution. With the sophisticated structure of today’s electric vehicle, the small-size motor can be placed into each driving wheel so that the DYC input can be easily and precisely achieved by controlling the in-wheel-motors independently. The information of road position is acquired by vision system via CCD camera and on-board image processing system. As a feature of the proposed system, the lateral deviation detected by CCD camera is converted into the desired yaw rate for tracing the desired lane. Then, the yaw moment control input is theoretically determined to achieve the desired yaw rate from the viewpoint of vehicle dynamics. This article presents the theoretical analysis of lane keeping control characteristics using linear vehicle model on planar motion, and experimental study using micro-scale electric vehicle to verify the effectiveness of the proposed strategy.