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

In 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

Four wheel steering advantageous for the autodriver algorithm

The autodriver algorithm was originally developed based on the dynamics of 4-Wheel-Steering (4WS) vehicles. The algorithm was transformed to be usable on 2WS vehicles which is more practical based on the existing steering systems for the vehicles on roads. The kinematic advantage of 4WS for the autodriver algorithm is presented. The steering angles required to keep the car on different roads have been calculated and compared for both steering types. One of the mentioned steering types is introduced as the superior steering arrangement for systems using the Autodriver algorithm