Articles

Electric vehicle lane keeping assistance system based on active torque distribution

  • WU Yiwan ,
  • ZHU Yue ,
  • LI Fan
Expand
  • 1. School of Machine Engineering and Automation, Fuzhou University, Fuzhou 350116, China;
    2. State Key Laboratory of Advanced Design and Manufacture for Vehicle Body, Hunan University, Changsha 410082, China

Received date: 2017-08-24

  Revised date: 2017-12-28

  Online published: 2018-03-28

Abstract

This paper focuses on the lane keeping assistance system (LKAS) for a four in-wheel motor drive electric vehicle. A new method for lane keeping assistance is presented, which applies additional yaw moment to the electric vehicle to achieve lane maintenance with active distribution of four wheels driving/braking torque. The lane keeping assistance system is divided into three layers. In the upper layer, assistance control decision is made, and the desired yaw rate is calculated by considering vehicle-lane deviation, vehicle dynamic and limitation of road adhesion. In the middle layer, a sliding mode controller (SMC) is designed to control the additional yaw moment. In the lower layer, yaw moment is produced by distributing of drive/brake torques between the four wheels. Lane keeping assistance is carried out by tracking desired yaw response. The LKAS is evaluated via Carsim/Simulink. The simulation result for a single lane change test shows that the proposed method can make the vehicle have good dynamic stability, and can restrict the vehicle within the lane and avoid lane departure accidents.

Cite this article

WU Yiwan , ZHU Yue , LI Fan . Electric vehicle lane keeping assistance system based on active torque distribution[J]. Science & Technology Review, 2018 , 36(5) : 98 -104 . DOI: 10.3981/j.issn.1000-7857.2018.05.012

References

[1] Lee J Y, Choi J W, Yi K S, et al. Lane-keeping assistance control algorithm using differential braking to prevent unintended lane departures[J]. Control Engineering Practice, 2014, 23(1):1-13.
[2] Merah A, Hartani K, Draou A. A new shared control for lane keeping and road departure prevention[J]. Vehicle System Dynamics, 2016, 54(1):86-101.
[3] Rajamani R. Vehicle Dynamics and Control[M]. New York:Springer, 2011.
[4] Kim W, Son Y S, Chung C C. Torque-overlay-based robust steering wheel angle control of electrical power steering for a lane-keeping system of automated vehicles[J]. IEEE Transactions on Vehicular Technology, 2015, 65(6):4379-4392.
[5] Switkes J P, Rossetter E J, Coe I A, et al. Hand wheel force feedback for lane keeping assistance:combined dynamics and stability[J]. Journal of Dynamic Systems, Measurement and Control, 2006, 128(3):532-542.
[6] 张海林, 罗禹贡, 江青云, 等. 基于电动助力转向的车道保持系统[J]. 汽车工程, 2013, 35(6):526-531. Zhang Hailin, Luo Yugong, Jiang Qingyun, et al. Lane keeping system based on electric power steering system[J]. Automotive Engineering, 2013, 35(6):526-531.
[7] LeBlanc D J, Venhovens P J T, Lin C F, et al. A warning and intervention system to prevent road-departure accidents[J]. Vehicle System Dynamics, 1996, 25(Suppl):383-396.
[8] 吴乙万, 黄智, 刘李盼. 基于差动制动的车道偏离辅助控制[J]. 中国机械工程, 2013, 24(21):2977-2981. Wu Yiwan, Huang Zhi, Liu Lipan. Differential braking control for lane departure avoidance[J]. China Mechanical Engineering, 2013, 24(21):2977-2981.
[9] 黄智, 吴乙万, 刘剑, 等. 高速车辆车道偏离辅助控制研究[J]. 机械工程学报, 2013, 49(22):157-163. Huang Zhi, Wu Yiwan, Liu Jian, et al. Research on lane departure avoidance system of high-speed vehicle[J]. Journal of Mechanical Engineering, 2013, 49(22):157-163.
[10] Huang Z, Wu Y W. Lane departure assistance based on balanced longitudinal slip ratio differential braking control[J]. International Journal of Vehicle Safety. 2015, 8(3):205-217.
[11] Mammar S, Glaser S, Netto M. Time to line crossing for lane departure avoidance:A theoretical study and an experimental setting[J]. IEEE Transactions on Intelligent Transportation Systems, 2006, 7(2):226-241.
[12] Macadam C C. Application of an optimal preview control for simulation of closed-loop automobile driving[J]. IEEE Transactions on Systems, Man and Cybernetics, 1981, 11(6):393-399.
[13] Yim S, Park Y, Yi K. Design of active suspension and electronic stability program for rollover prevention[J]. International Journal of Automotive Technology, 2010,11(2):147-153.
[14] Xiong L, Yu Z P, Yang W, et al. Vehicle Dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation[J]. Vehicle System Dynamics, 2012, 50(6):831-846.
[15] 郭孔辉, 付皓, 胡进, 等.车辆电子稳定性控制试验与评价方法的仿真应用[J]. 汽车技术, 2008(10):1-3. Guo Konghui, Fu Hao, Hu Jin, et al. Simulation application of test and evaluation methods on electronic stability control[J]. Automobile Technology, 2008(10):1-3.
Outlines

/