A Time-efficient Integrated Path-tracking and Control Allocation Method for Autonomous Electric Vehicle

separately considered path-tracking (PT) control and control moment controller based on adaptive sliding mode method is allocation (CA) method, but few of studies have integrated them designed for an electric vehicle with four in-wheel motors.together. This study proposes an integrated PT and CA method Furthermore, an adaptive vehicle lateral-plane motion control for autonomous electric vehicle with independent steering and using optimal tire friction forces with saturation limits driving actuators in the limit handling scenario. The high-level consideration is reported [7].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 problems, the PT control performance can be greatly low-level CA method is formulated as a compact quadratic improved when CA method is integrated together. Wang et al. programming (QP) optimization formulation to optimally argue that the CA method for independent driving vehicle can allocate individual control actuator. This CA method is designed enhance safety and handling by utilizing actuator for a prototype experiment electric vehicle with particularly redundancies, particularly in severe driving conditions, and a steering and driving actuator arrangement. The proposed better PT performance can be achieved for the integration integrated PT controller is validate through numerical method [8]. Hu et al. also suggest that for the PT control, CA simulation based on a high-fidelity CarMaker model on highmethod can offer flexible actuation with rapid torque speed limit handling scenario.

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Hierarchical Coupling Motion Control of Distributed Vehicle Considering Vehicle Posture

Chen,

Yao,

et al. 2024

IEEE Trans. Veh. Technol.

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A Time-efficient Integrated Path-tracking and Control Allocation Method for Autonomous Electric Vehicle

Cited by 4 publications

References 15 publications

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Hierarchical Coupling Motion Control of Distributed Vehicle Considering Vehicle Posture

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