Title: Coordinated torque vectoring control and path-following of autonomous vehicles with sideslip angle estimation

Authors: Lin Zhang; Wei Pan; Qin Li; Haobo Sun; Bin Li; Nian Wang

Addresses: Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Tongji University, Shanghai, 201804, China; KH Automotive Technologies Co, Ltd, Changchun, Jilin, 130012, China ' School of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' Department of Vehicle Engineering, Beijing Institute of Technology, Beijing, 100081, China ' School of Automotive Studies, Tongji University, 201804, China ' College of Electronics and Information Engineering, Tongji University, 201804, China ' Advanced technology center, Dongfeng Motor Corporation, Hubei, 430000, China

Abstract: This paper proposes a coordinated control strategy that considers torque vectoring control (TVC) and path following system (PFS) for autonomous vehicles with four in-wheel motors. Firstly, a non-linear vehicle state observer based onUniTire tyremodel is proposed to estimate longitudinal and lateral speed. Then the sideslip angle and tyre slip ratio can be obtained. Secondly, a lateral and longitudinal path following algorithm using the driver model based on optimal preview theory and PI controller is established. For the vehicle safety control of autonomous driving, a layered control scheme is proposed, in which the upper layer employs an adaptive second-order sliding mode controller (ASOSM) to get additional yaw moment. Finally, simulation test results prove that the proposed state observation and coordinated control algorithm is valid.

Keywords: autonomous vehicles; TVC; torque vectoring control; path-following; sideslip angle estimation; in-wheel motors; non-linear state observer.

DOI: 10.1504/IJVD.2020.115054

International Journal of Vehicle Design, 2020 Vol.83 No.2/3/4, pp.172 - 194

Received: 27 Dec 2019
Accepted: 03 May 2020
Published online: 17 May 2021 *

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