2021
DOI: 10.1109/tvt.2020.3022022
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Abstract: A recently growing literature discusses the topics of direct yaw moment control based on model predictive control (MPC), and energy-efficient torque-vectoring (TV) for electric vehicles with multiple powertrains. To reduce energy consumption, the available TV studies focus on the control allocation layer, which calculates the individual wheel torque levels to generate the total reference longitudinal force and direct yaw moment, specified by higher level algorithms to provide the desired longitudinal and later… Show more

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Cited by 45 publications
(24 citation statements)
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“…The following subsections provide the details of the nonlinear optimal control problem formulations for the stability control options based on continuous TV actuation that are compared in this study, namely: (i) Baseline TV, abbreviated as Base-TV in the remainder: an NMPC formulation including yaw rate tracking and sideslip angle limitation, in which the steering angle and reference yaw rate remain constant along the prediction horizon [27]; (ii) Trail braking TV (TBrk-TV): the Base-TV controller extended by a trail braking control action, see [17], if the vehicle speed is deemed excessively high with respect to the current curvature radius; (iii) Pre-emptive TV (Pre-TV): a pre-emptive TV formulation, in which the information on the expected curvature of the path ahead along the prediction horizon is computed outside the NMPC, under the hypothesis of zero longitudinal acceleration, and is used by the controller; and (iv) Embedded Pre-emptive TV (ePre-TV): similar controller to the Pre-TV, but the information on the expected curvature of the path ahead is computed inside the NMPC formulation and considers the varying longitudinal vehicle dynamics along the prediction horizon.…”
Section: Controller Configurationsmentioning
confidence: 99%
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“…The following subsections provide the details of the nonlinear optimal control problem formulations for the stability control options based on continuous TV actuation that are compared in this study, namely: (i) Baseline TV, abbreviated as Base-TV in the remainder: an NMPC formulation including yaw rate tracking and sideslip angle limitation, in which the steering angle and reference yaw rate remain constant along the prediction horizon [27]; (ii) Trail braking TV (TBrk-TV): the Base-TV controller extended by a trail braking control action, see [17], if the vehicle speed is deemed excessively high with respect to the current curvature radius; (iii) Pre-emptive TV (Pre-TV): a pre-emptive TV formulation, in which the information on the expected curvature of the path ahead along the prediction horizon is computed outside the NMPC, under the hypothesis of zero longitudinal acceleration, and is used by the controller; and (iv) Embedded Pre-emptive TV (ePre-TV): similar controller to the Pre-TV, but the information on the expected curvature of the path ahead is computed inside the NMPC formulation and considers the varying longitudinal vehicle dynamics along the prediction horizon.…”
Section: Controller Configurationsmentioning
confidence: 99%
“…While the first two TV controllers are based on those proposed in the literature [17,27], both pre-emptive approaches constitute novel contributions.…”
Section: Controller Configurationsmentioning
confidence: 99%
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