English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Full drive-by-wire electric vehicles (FDWEV) with X-by-wire technology canachieve independent driving, braking, and steering of each wheel, providing agood application platform for autonomous driving technology. Path planning andtracking control, in particular, are critical components of autonomous driving.However, It is challenging to comprehensively design an robust controlalgorithm by integrating vehicle path planning in a complicated unstructuredscenario for FDWEV. To address the above issue, this paper first proposes theartificial potential field (APF) method for path planning in the prescribedpark with different static obstacles to generate the reference pathinformation, where speed planning is incorporated considering kinematics anddynamic constraints. Second, two tracking control methods, curvaturecalculation (CC-based) and model predictive control (MPC-based) methods withthe lateral dynamics model, are proposed to track the desired path underdifferent driving conditions, in which a forward-looking behavior model of thedriver with variable preview distance is designed based on fuzzy controltheory. CarSim-AMESim-Simulink co-simulation is conducted with the existence ofobstacles. The simulation results show that the proposed two control approachesare effective for many driving scenarios and the MPC-based path-trackingcontroller enhances dynamic tracking performance and ensures goodmaneuverability under high-dynamic driving conditions.

Planning and Tracking Control of Full Drive-by-Wire Electric Vehicles in Unstructured Scenario