Predictive Torque Vectoring Vehicle Control Based on a Linear Time Varying Model (CROSBI ID 685079)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Švec, Marko ; Hrvatinić, Kruno ; Ileš, Šandor ; Matuško, Jadranko
engleski
Predictive Torque Vectoring Vehicle Control Based on a Linear Time Varying Model
In this paper we propose a torque vectoring and steering system based on a model predictive control (MPC) algorithm for a linear time varying (LTV) vehicle model. The goal is to ensure good reference tracking, while fulfilling various physical and design constraints. Non-linear vehicle model uses steering angle and wheel slip ratios as inputs. For control purposes, the model is linearized along the trajectory and then transformed to discrete time domain. Afterwards, the controller is tested using the sine with dwell driving manoeuvre with different prediction horizon lengths and different linearization approaches. Additionally, autonomously steered vehicle is compared to semiautonomous vehicle in which the steering angle is determined by the driver and the results are discussed.
vehicle dynamics, model predictive control, torque vectoring, active safety, autonomous vehicle
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Podaci o prilogu
1113-1118.
2019.
objavljeno
10.23919/mipro.2019.8756680
Podaci o matičnoj publikaciji
Institute of Electrical and Electronics Engineers (IEEE)
2623-8764
Podaci o skupu
MIPRO 2019
predavanje
20.05.2019-24.05.2019
Opatija, Hrvatska