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

被引：0

作者：

Li, Boyuan ^{[1
]}

Siampis, Efstathios ^{[1
]}

Lin, Chenhui ^{[1
]}

Longo, Stefano ^{[1
]}

Velenis, Efstathios ^{[1
]}

机构：

[1] Cranfield Univ, Ctr Automot Engn, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England

来源：

2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年

基金：

“创新英国”项目;

关键词：

STEERING CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Both the path-tracking method and control allocation (CA) method have been extensively discussed in the literature. However, few of current studies have proposed an integrated path-tracking and CA control frame work for autonomous vehicle. This study aims to develop a time-efficient integrated path-tracking and CA control method for front-wheel steering and four-wheel independent driving (4WID) autonomous vehicle. A high-level feedback tracking controller is proposed to generate the total virtual control tyre force and moment, and then a low-level CA method with quadratically constrained quadratic programming (QCQP) formulation is applied to distribute the individual driving and steering control actuators. Simulation results prove that the proposed integrated CA method can achieve good control performance in a time-efficient manner with the help of useful optimisation tool - Forces Pro.

引用

页码：6700 / 6705

页数：6

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