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  • 标题:Design of an Active Collision Avoidance System for a 4WIS-4WID Electric Vehicle ⁎
  • 本地全文:下载
  • 作者:Peng Hang ; Yanqun Han ; Xinbo Chen
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2018
  • 卷号:51
  • 期号:31
  • 页码:771-777
  • DOI:10.1016/j.ifacol.2018.10.132
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractA novel four-wheel independent steering and four-wheel independent drive (4WIS-4WID) electric vehicle (EV) is proposed in this paper, which is regarded as an autonomous ground vehicle (AGV). Then, the active collision avoidance system of the 4WIS-4WID EV is designed, which mainly consists of the path planner design and the path-tracking controller design. Clothoid is used to planning the collision avoidance path and robustH∞controller is applied to path tracking. To evaluate the performance of the active collision avoidance system for the 4WIS-4WID EV, simulations under two conditions are carried out. The simulation results indicate that the active collision avoidance system has good collision avoidance performance and robust performance, and the 4WIS-4WID EV has better path-tracking performance and handling stability than active front-wheel steering (AFS) vehicles.
  • 关键词:KeywordsActive collision avoidancepath planningtracking controlfour-wheel independent steeringfour-wheel independent driveelectric vehicle
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