四轮独立转向独立驱动电动车主动避障路径规划与跟踪控制*

doi:10.19562/j.chinasae.qcgc.2019.02.008

Abstract

Abstract: Four-wheel independent steering and four-wheel independent drive electric vehicle (4WIS-4WID EV) has good maneuverability at low speed and superior stability at high speed, so is an ideal autonomous vehicle. An active collision avoidance system for 4WIS-4WID EV is designed in this paper, mainly consisting of path planning and tracking control. Firstly, the path planning algorithm for collision avoidance is proposed using seven-order polynomial based on vehicle kinematic model. Then, the model predictive controller for path tracking is designed based on the simplified 2 DOF dynamic model. Four-wheel steering and direct yaw-moment control are applied to the path tracking algorithm to improve the handling stability of vehicle. The active collision avoidance performance and robustness of the system are verified by simulations under the conditions of different road adhesive coefficients and crosswind disturbance

Key words: 4WIS-4WID EV, collision avoidance, path planning, tracking control, model predictive control

Hang Peng, Chen Xinbo, Zhang Bang, Shi Pengfei, Tang Tingju. Path Planning and Tracking Control for Collision Avoidance of a 4WIS-4WID Electric Vehicle[J]., 2019, 41(2): 170-176.

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Path Planning and Tracking Control for Collision Avoidance of a 4WIS-4WID Electric Vehicle

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