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

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dc.contributor.authorLi, Boyuan
dc.contributor.authorLin, Chenhui
dc.contributor.authorAhmadi, Javad
dc.contributor.authorSiampis, Efstathios
dc.contributor.authorLongo, Stefano
dc.contributor.authorVelenis, Efstathios
dc.date.accessioned2023-08-21T08:32:17Z
dc.date.available2023-08-21T08:32:17Z
dc.date.issued2023-08-08
dc.description.abstractIn recent years, path-tracking controllers for autonomous passenger vehicles and Control Allocation (CA) methods for handling and stability control have both received extensive discussion in the literature. However, the integration of the path-tracking control with CA methods for autonomous racing vehicles has not attracted much attention. In this study, we design an integrated path-tracking and CA method for a prototype autonomous racing electric vehicle with a particular focus on the maximising the turning speed in tight cornering. The proposed control strategy has a hierarchical structure to improve the computational efficiency: the high-level path-tracking Model Predictive Control (MPC) based on a rigid body model is designed to determine the virtual control forces according to the desired path and desired maximum velocity profile, while the low-level CA method uses a Quadratically Constrained Quadratic Programming (QCQP) formulation to distribute the individual control actuator according to the desired virtual control values. The proposed controller is validated in a high-fidelity simulation vehicle model with the computational time of the optimisation controller presented to demonstrate the real-time control performance.en_UK
dc.description.sponsorshipInnovate UK: AID-CAVen_UK
dc.identifier.citationLi B, Lin C, Ahmadi J, et al., (2024) An integrated path-tracking and control allocation method for autonomous racing electric vehicles, Vehicle System Dynamics, Volume 62, Issue 6, June 2024, pp. 1517-1540en_UK
dc.identifier.eissn1744-5159
dc.identifier.issn0042-3114
dc.identifier.urihttps://doi.org/10.1080/00423114.2023.2242533
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20123
dc.language.isoenen_UK
dc.publisherTaylor & Francisen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectAutonomous vehicleen_UK
dc.subjectcontrol allocationen_UK
dc.subjectMPCen_UK
dc.subjectpath-trackingen_UK
dc.titleAn integrated path-tracking and control allocation method for autonomous racing electric vehiclesen_UK
dc.typeArticleen_UK

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