Integrated Vehicle-Following Control for Four-Wheel-Independent-Drive Electric Vehicles Against Non-Ideal V2X Communication

• Published in: IEEE transactions on vehicular technology Vol. 71; no. 4; pp. 3648 - 3659
• Main Authors: Liu, Jizheng, Wang, Zhenpo, Zhang, Lei
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Communication; Compensators; Connected and automated vehicles; Control stability; Controllers; delay compensator; Delays; Electric vehicles; Energy consumption; four-wheel-independent-drive electric vehicles; Hardware-in-the-loop simulation; Lateral stability; model predictive control; nonideal V2X communication; Predictive control; Stability criteria; Tires; Trajectory; Vehicle dynamics; vehicle-following control; Vehicle-to-everything; Wheels
• ISSN: 0018-9545; 1939-9359
• DOI: 10.1109/TVT.2022.3141732

Connected and automated vehicles (CAVs) have attracted tremendous interests worldwide. Four-Wheel-Independent-Drive Electric Vehicles (FWID EVs) have the potential of improving vehicle handling performance and energy consumption. In this paper, an integrated vehicle-following control scheme for FWID EVs with Vehicle-to-Everything (V2X) communication capability is proposed to account for nonideal communication such as time-varying delays and packet dropouts. A packet dropout compensator is put forward to compensate for V2X information loss. A longitudinal controller with a delay compensator is then synthesized and integrated with a lateral model predictive controller to enable vehicle-following control. The stability of the proposed controller is validated theoretically and experimentally under comprehensive driving scenarios through Hardware-In-the-Loop tests. The results demonstrate that the proposed controller has good vehicle-following performance against nonideal V2X communication. This attests to its competency for being used in vehicle platoon control.