Integrated Control of Motion Actuators for Enhancing Path Following and Yaw Stability of Over-Actuated Autonomous Vehicles

Wenliang Zhang (), Lars Drugge, Mikael Nybacka and Jenny Jerrelind
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Wenliang Zhang: Vehicle Dynamics, Department of Engineering Mechanics, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden
Lars Drugge: Vehicle Dynamics, Department of Engineering Mechanics, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden
Mikael Nybacka: Vehicle Dynamics, Department of Engineering Mechanics, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden
Jenny Jerrelind: Vehicle Dynamics, Department of Engineering Mechanics, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden

Energies, 2023, vol. 16, issue 12, 1-23

Abstract: Advanced active safety systems play a crucial role in ensuring the safe driving of vehicles in critical conditions such as an obstacle avoidance manoeuvre. However, conventional techniques relying mainly on braking interventions may not result in the desired vehicle response in such situations. Over-actuation through the control of individual motion actuators could potentially improve the safety performance of vehicles. This study evaluates various configurations of motion actuators for path following and yaw stability control of vehicles in critical driving scenarios. The configurations include active front steering (S), active front steering + torque vectoring (ST), active front steering + active camber (SC) and active front steering + torque vectoring + active camber (STC). The evaluation is achieved based on a nonlinear model predictive control formulation, which considers yaw stability and the physical limits of motion actuators. This problem formulation uses a double-track vehicle model, combined with the Dugoff tyre model and its variant with the camber effect, to model the vehicle dynamics. The actuator configurations are evaluated regarding the passing velocity, tracking accuracy, safety distance and robustness to reference trajectory variation. The results indicate that the integrated control of STC performs the best among all the four configurations while S performs the worst. Furthermore, SC is generally superior to ST.

Keywords: integrated control; yaw stability; path following; over-actuation; nonlinear model predictive control; autonomous vehicle; electric vehicle (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2023
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