| Home | KSAE | E-Submission | Sitemap | Contact Us |  
International Journal of Automotive Technology > Volume 21(4); 2020 > Article
International Journal of Automotive Technology 2020;21(4): 1047-1060.
doi: https://doi.org/10.1007/s12239-020-0099-3
Hongluo Li, Yutao Luo
South China University of Technology
PDF Links Corresponding Author.  Yutao Luo , Email. ctytluo@scut.edu.cn
In order to fully explore the potential of distributed drive electric vehicle, an integrated coordination control method consists of model predictive control (MPC) and speed tracking control for trajectory tracking is proposed in this paper. Firstly, the vehicle dynamics model including the slip ratio of each wheel is established. Then, a multi-objective function of the MPC controller is established based on the principle of minimum tracking error, control vector, and control increment. And the optimal control sequences are obtained by optimizing the solution and correcting the feedback of the MPC, which satisfy both the actual kinematic constraints and the actuator performance constraints. The steering angle signal is sent to the steering motor directly, and the torque signal of each wheel which is obtained by superimposing the torque value output by the MPC controller and speed tracking controller is sent to the driving motor simultaneously. Finally, the proposed method is validated by using MATLAB/Simulink-Carsim co-simulation on different roads with conventional and severe pavement conditions. The simulation results show that the designed integrated coordination controller has obvious advantages in terms of tracking accuracy and body attitude stability during the course of lane change.
Key Words: Distributed drive electric vehicle, Trajectory tracking, Model predictive control, Integrated coordination control
Editorial Office
21 Teheran-ro 52-gil, Gangnam-gu, Seoul 06212, Korea
TEL: +82-2-564-3971   FAX: +82-2-564-3973   E-mail: manage@ksae.org
About |  Browse Articles |  Current Issue |  For Authors and Reviewers
Copyright © The Korean Society of Automotive Engineers.                 Developed in M2PI
Close layer
prev next