Integrated Path-tracking and Control Allocation Controller for Autonomous Electric Vehicle under Limit Handling Condition

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dc.contributor.authorLi, Boyuan
dc.contributor.authorAhmadi, Javad
dc.contributor.authorLin, Chenhui
dc.contributor.authorSiampis, Efstathios
dc.contributor.authorLongo, Stefano
dc.contributor.authorVelenis, Efstathios
dc.date.accessioned2021-07-14T13:14:14Z
dc.date.available2021-07-14T13:14:14Z
dc.date.issued2021-01-08
dc.description.abstractIn current literature, a number of studies have separately considered path-tracking (PT) control and control allocation (CA) method, but few of studies have integrated them together. This study proposes an integrated PT and CA method for autonomous electric vehicle with independent steering and driving actuators in the limit handling scenario. The high-level 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 low-level CA method is formulated as a compact quadratic programming (QP) optimization formulation to optimally allocate individual control actuator. This CA method is designed for a prototype experiment electric vehicle with particularly steering and driving actuator arrangement. The proposed integrated PT controller is validate through numerical simulation based on a high-fidelity CarMaker model on highspeed limit handling scenario.en_UK
dc.identifier.citationLi B, Lin C, Siampis E, et al., (2020) Integrated Path-tracking and Control Allocation Controller for Autonomous Electric Vehicle under Limit Handling Condition. In: 2020 IEEE Intelligent Vehicles Symposium (IV), 19 October - 13 November 2020, Las Vegas, NVen_UK
dc.identifier.urihttps://doi.org/10.1109/IV47402.2020.9304608
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16879
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectActuatorsen_UK
dc.subjectVehicle dynamicsen_UK
dc.subjectForceen_UK
dc.subjectElectric vehiclesen_UK
dc.titleIntegrated Path-tracking and Control Allocation Controller for Autonomous Electric Vehicle under Limit Handling Conditionen_UK
dc.typeArticleen_UK

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