Two-stage auxiliary drifting path tracking control for distributed driving three-axle commercial vehicles
Xuanyu Shi1, Hai Wang1, Yingfeng Cai2
1School of Automotive and Traffic Engineering of Jiangsu University, Zhenjiang 212013, China.
ISA Transactions
|August 4, 2024
Summary
This study introduces a two-stage controller for commercial vehicles to safely manage high-speed cornering. The advanced system enhances driving stability during drifts and returns the vehicle to a safe state, expanding operational limits.
Area of Science:
- Automotive Engineering
- Control Systems
- Vehicle Dynamics
Background:
- Commercial vehicles face stability issues at high speeds, leading to accidents due to sideslip and tire saturation.
- Intelligent driving systems are needed to exceed stability limits and maintain control during drifts.
Purpose of the Study:
- To propose a two-stage auxiliary drift controller for distributed drive three-axle (DDTA) commercial vehicles.
- To enhance driving safety by enabling controlled drifting and stability recovery.
Main Methods:
- Utilized time-varying Model Predictive Control (MPC) for steady-state drift path tracking.
- Implemented a two-stage controller switching strategy based on road conditions.
- Employed an advanced auxiliary system for yaw stability control and tire reattachment.
Main Results:
- The control strategy maintained path tracking even with saturated tire adhesion and a 32.09° sideslip angle.
- The vehicle successfully returned to a stable yaw state post-drifting.
- Miniaturized vehicle tests validated the controller's effectiveness in transient instability scenarios.
Conclusions:
- The proposed controller expands the controllable stability boundary of commercial vehicles.
- The drift technology demonstrates enhanced engineering feasibility for improved driving safety.
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