Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles
This paper presents a novel approach for path-following control of a four-wheeled autonomous vehicle. The rear wheels of the vehicle are driven independently, all four wheels can be braked independently, and the front wheels are steered together. The proposed cascade structure consists of two convex...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2021/1444396 |
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| _version_ | 1849691641189761024 |
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| author | Adorjan Kovacs Istvan Vajk |
| author_facet | Adorjan Kovacs Istvan Vajk |
| author_sort | Adorjan Kovacs |
| collection | DOAJ |
| description | This paper presents a novel approach for path-following control of a four-wheeled autonomous vehicle. The rear wheels of the vehicle are driven independently, all four wheels can be braked independently, and the front wheels are steered together. The proposed cascade structure consists of two convex optimization-based parts: one for path-following and another for the control allocation problem of the actuators. The control algorithm presents cost functions for the allocation problem focusing on safety. The proposed cost functions were examined and compared to former ones in a simulation environment. After all, the controller was tested in real-time test on a Lotus Evora test vehicle developed by ThyssenKrupp. |
| format | Article |
| id | doaj-art-e2378ac327554dd79bcd79597a6940dc |
| institution | DOAJ |
| issn | 2042-3195 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-e2378ac327554dd79bcd79597a6940dc2025-08-20T03:20:58ZengWileyJournal of Advanced Transportation2042-31952021-01-01202110.1155/2021/1444396Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric VehiclesAdorjan Kovacs0Istvan Vajk1Department of Automation and Applied InformaticsDepartment of Automation and Applied InformaticsThis paper presents a novel approach for path-following control of a four-wheeled autonomous vehicle. The rear wheels of the vehicle are driven independently, all four wheels can be braked independently, and the front wheels are steered together. The proposed cascade structure consists of two convex optimization-based parts: one for path-following and another for the control allocation problem of the actuators. The control algorithm presents cost functions for the allocation problem focusing on safety. The proposed cost functions were examined and compared to former ones in a simulation environment. After all, the controller was tested in real-time test on a Lotus Evora test vehicle developed by ThyssenKrupp.http://dx.doi.org/10.1155/2021/1444396 |
| spellingShingle | Adorjan Kovacs Istvan Vajk Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles Journal of Advanced Transportation |
| title | Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles |
| title_full | Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles |
| title_fullStr | Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles |
| title_full_unstemmed | Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles |
| title_short | Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles |
| title_sort | integrated lateral and longitudinal control with optimization based allocation strategy for autonomous electric vehicles |
| url | http://dx.doi.org/10.1155/2021/1444396 |
| work_keys_str_mv | AT adorjankovacs integratedlateralandlongitudinalcontrolwithoptimizationbasedallocationstrategyforautonomouselectricvehicles AT istvanvajk integratedlateralandlongitudinalcontrolwithoptimizationbasedallocationstrategyforautonomouselectricvehicles |