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- W4210494811 abstract "Abstract To improve the multi-directional motion control accuracy and driving stability of Distributed Drive Autonomous Vehicles (DDAVs) under extreme conditions, the extreme speed estimation method based on dynamic boundary and the motion control law design method based on vehicle multi-directional motion coupling dynamic model are proposed. The stable driving state of DDAVs is identified by the dynamic boundary composed of yaw rate, sideslip angle and roll angle, and then the extreme speed of stable driving is estimated. The eight-degrees-of-freedom(8-DOF) DDAVs vehicle dynamics model is used to design the control law of steering wheel angle, wheel torque and active suspension actuation force. Based on the above methods and sliding mode algorithm, the Multi-directional Motion Coupling Control System (MMCCS) of DDAVs is designed. The effectiveness of the proposed method is verified by double-line-shifting and serpentine driving simulations under different road adhesion conditions. The superiority of the method is proved by comparing the existing integrated control method." @default.
- W4210494811 created "2022-02-08" @default.
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- W4210494811 date "2022-02-03" @default.
- W4210494811 modified "2023-10-17" @default.
- W4210494811 title "Multi-directional-motion-coupling-based Extreme Motion Control of Distributed Drive Autonomous Vehicle" @default.
- W4210494811 doi "https://doi.org/10.21203/rs.3.rs-1291196/v1" @default.
- W4210494811 hasPublicationYear "2022" @default.
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