In this study, an integrated path tracking control framework is proposed for the independent‐driven autonomous electric vehicles. The proposed control scheme includes three parts: the non‐linear model predictive path tracking controller, the lateral stability controller, and the optimal torque vectoring controller. Firstly, the upper bound speed limit is regulated based on the known curvature and adhesion coefficient of the road to prevent the tyre saturation. The model predictive controller generates the steering angle and the desired longitudinal force for path tracking. Simultaneously, the lateral stability controller calculates the desired yaw moment to balance the vehicle stability and motility under different situations. Finally, the optimal torque vectoring controller distributes the wheel torques to generate the desired longitudinal force and yaw moment. Three test cases are designed and verified based on a Carsim/Simulink platform to evaluate the control performance. The test results illustrate that the proposed control framework has satisfactory path tracking performance, and the desired balance between vehicle mobility and stability is achieved under different road conditions.
Integrated model predictive and torque vectoring control for path tracking of 4‐wheel‐driven autonomous vehicles
IET Intelligent Transport Systems ; 13 , 1 ; 98-107
2019-01-01
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Carsim , torque control , predictive control , vehicle stability , optimal torque vectoring controller , Simulink , control system synthesis , electric vehicles , wheels , independent‐driven autonomous electric vehicles , vehicle mobility , vehicle dynamics , road vehicles , motion control , integrated model predictive control , wheel torques , optimal control , stability controller , tyres , steering systems , tracking , integrated path tracking control , mobile robots , mechanical stability , upper bound speed limit , path planning , position control , 4‐wheel‐driven autonomous vehicles , nonlinear control systems , yaw moment , torque vectoring control , nonlinear model predictive path tracking controller , adhesion
IET | 2018
|Comparison of Path Tracking and Torque-Vectoring Controllers for Autonomous Electric Vehicles
IEEE | 2018
|Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles
Taylor & Francis Verlag | 2015
|Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles
Online Contents | 2015
|