Search Results

This paper presents a strong robust path tracking control method which is based on sliding mode control and active disturbance rejection control. Firstly, by constructing a desired yaw angle function, which can guarantee that the deviations of the vehicle actual lateral displacement from the desired path converges to zero when the yaw angle of the vehicle approaches the desired yaw angle, so that the complex path tracking control problem can be transformed into easy to implement yaw angle tracking control problem. Then, a robust vehicle yaw angle tracking controller is constructed. The controller consists of two parts: the extended state observer and the nonlinear error feedback control law. The extended state observer is used to estimate the unmodeled dynamics and unknown external perturbations of the system in real time.

In this paper, the variable steering ratio control strategies under normal driving conditions and emergency driving conditions were proposed. The variable steering ratio control under normal driving conditions is based on variable yaw rate gain, and takes into account the driver’s operating habits and vehicle handling stability. The steering ratio varies with the vehicle speed and the steering wheel angle, which ensures the vehicle steering sensitivity at low speed and the steering stability at high speed. The variable steering ratio control under the emergency driving conditions is based on yaw rate dynamic feedback control, and the steering ratio varies with the vehicle movement status. We use active steering control which is based on active disturbance rejection control to achieve yaw rate dynamic feedback control, which can improve vehicle stability without affecting the longitudinal movement of vehicle.

With the rapid development of vehicle intelligent and networking technology, the IT security of automotive systems becomes an important area of research. In addition to the basic vehicle control, intelligent advanced driver assistance systems, infotainment systems will all exchange data with in-vehicle network. Unfortunately, current communication network protocols, including Controller Area Network (CAN), FlexRay, MOST, and LIN have no security services, such as authentication or encryption, etc. Therefore, the vehicle are unprotected against malicious attacks. Since CAN bus is actually the most widely used field bus for in-vehicle communications in current automobiles, the security aspects of CAN bus is focused on. Based on the analysis of the current research status of CAN bus network security, this paper summarizes the CAN bus potential security vulnerabilities and the attack means.