Authors: Jian Wang; Jun Yang; Peng Yu
Addresses: Department of Vehicle Engineering, School of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, China ' Department of Vehicle Engineering, School of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, China ' Shandong Mingyu New Energy Technology Co., Ltd., Jinan 271100, China
Abstract: High-speed avoidance assisted driving technology can improve the driving safety of automobiles and is one of the key technologies of unmanned automobiles. The sigmoid function with continuously changing curvature is introduced to design a high-speed avoidance path. Based on the two-degree-of freedom vehicle dynamics model, a linear sliding mode auto-disturbance rejection path tracking controller is designed to control the actual yaw rate of the vehicle to track the ideal yaw rate of the planned path. Based on Carsim software, a front-drive pure electric vehicle is established, and the control effect is verified by Carsim and Simulink joint simulation method. The simulation results show that the path tracking controller can ensure the pure electric vehicle to track the ideal planned path and ensure the vehicle to avoid the vehicles in front safely at high speed.
Keywords: high-speed avoidance; pure electric vehicles; path tracking; joint simulation; unmanned automobiles; sigmoid function; linear sliding mode control; auto-disturbance rejection control; Carsim; path planning.
International Journal of Electric and Hybrid Vehicles, 2020 Vol.12 No.3, pp.214 - 228
Received: 23 Nov 2019
Accepted: 23 Jan 2020
Published online: 05 Oct 2020 *