In current literature, a number of studies have separately considered path-tracking (PT) control and control allocation (CA) method, but few of studies have integrated them together. This study proposes an integrated PT and CA method for autonomous electric vehicle with independent steering and driving actuators in the limit handling scenario. The high-level feedback PT controller can determine the desired total tire forces and yaw moment, and is designed to guarantee yaw angle error and lateral deviation converge to zero simultaneously. The low-level CA method is formulated as a compact quadratic programming (QP) optimization formulation to optimally allocate individual control actuator. This CA method is designed for a prototype experiment electric vehicle with particularly steering and driving actuator arrangement. The proposed integrated PT controller is validate through numerical simulation based on a high-fidelity CarMaker model on highspeed limit handling scenario.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Integrated Path-tracking and Control Allocation Controller for Autonomous Electric Vehicle under Limit Handling Condition


    Beteiligte:
    Li, Boyuan (Autor:in) / Ahmadi, Javad (Autor:in) / Lin, Chenhui (Autor:in) / Siampis, Efstathios (Autor:in) / Longo, Stefano (Autor:in) / Velenis, Efstathios (Autor:in)


    Erscheinungsdatum :

    19.10.2020


    Format / Umfang :

    1903244 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    INTEGRATED PATH-TRACKING AND CONTROL ALLOCATION CONTROLLER FOR AUTONOMOUS ELECTRIC VEHICLE UNDER LIMIT HANDLING CONDITION

    Li, Boyuan / Ahmadi, Javad / Lin, Chenhui et al. | British Library Conference Proceedings | 2020


    An integrated path-tracking and control allocation method for autonomous racing electric vehicles

    Li, Boyuan / Lin, Chenhui / Ahmadi, Javad et al. | Taylor & Francis Verlag | 2024

    Freier Zugriff


    A Predictive Controller for Autonomous Vehicle Path Tracking

    Raffo, G.V. / Gomes, G.K. / Normey-Rico, J.E. et al. | IEEE | 2009


    Fuzzy PD Controller Based Path Tracking for Autonomous Vehicle under i-VICS

    Pei, Huaxin / Ding, Jishiyu / Hu, Jianming et al. | IEEE | 2019