Energy Efficiency Oriented Robust Model Predictive Stability Control for Autonomous Electric Vehicles
- 提供方法
- 他サイトにて提供・販売
- 入手方法の確認はこちら
- 文献・情報種別
- AVEC
- 掲載ページ
- 71-77(Total 7 p)
- 発行年月
- 2024年 9月
- 出版社
- その他・不明
- 言語
- 英語
- イベント
- AVEC '24
書誌事項
| 著者（英） | 1) Ziang Tian, 2) Huilong Yu, 3) Junqiang Xi |
|---|---|
| 勤務先（英） | 1) Beijing Institute of Technology, 2) Beijing Institute of Technology, 3) Beijing Institute of Technology |
| 抄録（英） | The four-wheel independent steering and drive autonomous vehicle is a typical over-actuated system. The complexity of controlling it is increasing with the number of actuators. Since the model-based approach can solve the constrained multiple output problem, it is mostly utilized in the existing works. However, they usually investigate a single objective optimization, while employing simplified prediction models to relieve computational burdens. In this case, the robustness of the controller will inevitably suffer from model mismatch, which makes it hard to fulfill the various demands of autonomous driving. This work proposes a multi-objective control framework, which optimizes stability and energy efficiency simultaneously. Furthermore, robust model predictive control is introduced to address the model mismatch. Compared with the state-of-the-art, the effectiveness of the proposed approach has been validated by hardware-in-the-loop tests. Under the double lane change Maneuver, the longitudinal speed is maintained 1.7% higher. The vehicle stability is enhanced, while the motor energy loss and tire slip energy are reduced by 23.3% and 8.3%, respectively. 翻訳 |
