Title: Automatic driving systems considering trajectory tracking and lateral stability control of distributed electric drive semi-trailer truck

Authors: Zhaowen Deng; Si Deng

Addresses: Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan, 442002, China; Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China ' College of Automotive Engineering, Hubei University of Automotive Technology, Shiyan 442002, China; Chery Automobile Co., Ltd, Wuhu, 241000, China

Abstract: Aiming at the self-driving semi-trailer automobile truck under extreme working conditions, the trajectory tracking accuracy is poor, easy to occur lateral instability and other dangerous problems. In this paper, a hierarchical control system for trajectory tracking and lateral stability is proposed by combining distributed electric drive technology. Firstly, a linear three-degree-of-freedom dynamics reference model is established for obtaining the ideal values of vehicle state quantities. Secondly, the upper trajectory tracking controller is designed based on model predictive control (MPC) and PID control theory for accurately tracking the reference trajectory. The lower layer designs the direct yaw moment controller (DYC) based on the sliding mode control theory, decides the additional yaw moment required by the tractor, and allocates the additional yaw moment by using the quadratic programming (QP) method. Finally, the co-simulation platform of TruckSim and MATLAB/Simulink is built to verify the effectiveness of the controller.

Keywords: distributed electric drive; semi-trailer truck; model predictive control; trajectory tracking; lateral stability.

DOI: 10.1504/IJVP.2025.144270

International Journal of Vehicle Performance, 2025 Vol.11 No.1, pp.1 - 25

Received: 16 Jan 2024
Accepted: 30 May 2024
Published online: 04 Feb 2025 *