An integrated path-tracking and control allocation method for autonomous racing electric vehicles

Journal article


Li, B., Lin, C., Ahmadi, J., Longo, S. and Velenis, E. 2024. An integrated path-tracking and control allocation method for autonomous racing electric vehicles. Vehicle Systems Dynamics. 62 (6), pp. 1517-1540. https://doi.org/10.1080/00423114.2023.2242533
AuthorsLi, B., Lin, C., Ahmadi, J., Longo, S. and Velenis, E.
Abstract

In recent years, path-tracking controllers for autonomous passenger vehicles and Control Allocation (CA) methods for handling and stability control have both received extensive discussion in the literature. However, the integration of the path-tracking control with CA methods for autonomous racing vehicles has not attracted much attention. In this study, we design an integrated path-tracking and CA method for a prototype autonomous racing electric vehicle with a particular focus on the maximising the turning speed in tight cornering. The proposed control strategy has a hierarchical structure to improve the computational efficiency: the high-level path-tracking Model Predictive Control (MPC) based on a rigid body model is designed to determine the virtual control forces according to the desired path and desired maximum velocity profile, while the low-level CA method uses a Quadratically Constrained Quadratic Programming (QCQP) formulation to distribute the individual control actuator according to the desired virtual control values. The proposed controller is validated in a high-fidelity simulation vehicle model with the computational time of the optimisation controller presented to demonstrate the real-time control performance.

KeywordsAutonomous vehicle; control allocation; MPC; path-tracking
Year2024
JournalVehicle Systems Dynamics
Journal citation62 (6), pp. 1517-1540
PublisherTaylor and Francis Group
ISSN1744-5159
Digital Object Identifier (DOI)https://doi.org/10.1080/00423114.2023.2242533
Web address (URL)https://www.tandfonline.com/doi/full/10.1080/00423114.2023.2242533
Accepted author manuscript
License
File Access Level
Open
Publisher's version
License
File Access Level
Open
Output statusPublished
Publication dates
Online08 Aug 2023
Publication process dates
Deposited07 Mar 2024
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https://repository.derby.ac.uk/item/q4zw7/an-integrated-path-tracking-and-control-allocation-method-for-autonomous-racing-electric-vehicles

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Accepted author manuscript
NVSD_A_2242533_O (1).pdf
License: CC BY 4.0
File access level: Open


Publisher's version
NVSD_A_2242533_O (1).pdf
License: CC BY
File access level: Open

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