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Mathematical Problems in Engineering
Volume 2018 (2018), Article ID 1024805, 10 pages
Research Article

Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China
2College of Computer and Information Sciences, Fujian Agriculture and Forestry University, Fuzhou 350002, China
3State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China

Correspondence should be addressed to Yiwan Wu; nc.ude.uzf@nawiyuw

Received 21 June 2017; Revised 3 January 2018; Accepted 23 January 2018; Published 19 February 2018

Academic Editor: Qingling Zhang

Copyright © 2018 Yiwan Wu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper focuses on the lane departure avoidance system for a four in-wheel motors’ drive electric vehicle, aiming at preventing lane departure under dangerous driving conditions. The control architecture for the lane departure avoidance system is hierarchical. In the upper controller, the desired yaw rate was calculated with the consideration of vehicle-lane deviation, vehicle dynamic, and the limitation of road adhesion. In the middle controller, a sliding mode controller (SMC) was designed to control the additional yaw moment. In the lower layer, the yaw moment was produced by the optimal distribution of driving/braking torque between four wheels. Lane departure avoidance was carried out by tracking desired yaw response. Simulations were performed to study the effectiveness of the control algorithm in Carsim®/Simulink® cosimulation. Simulation results show that the proposed methods can effectively confine the vehicle in lane and prevent lane departure accidents.