Autonomous Vehicle Path Tracking Control System Based on Energy Optimization

Authors

Xiaolong Wu, 1. School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China;;
Fugen Xia, 2. Chengdu Yiwei New Energy Automobile Co., Ltd., Chengdu 610015, China;
Chen Jing, 1. School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China;;
Xu Jia, 1. School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China;;

Abstract

Abstract: Powertrain control is important to the dynamic performance and economy of driverless cars and a path following control strategy based on energy optimization is proposed. The control strategy includes two parts. The nonlinear model predictive control is used in the upper controller to calculate the required power parameters and front wheel angle. The lower-level controller is designed based on the optimal value of motor energy consumption which ensure the motor being always running at the optimal state of efficiency. In addition, the continuously variable transmission (CVT) is dynamically adjusted according to the motor state to meet the vehicle power demand. The simulation results show that the control scheme has good tracking performance and energy saving potential.

Recommended Citation

Wu, Xiaolong; Xia, Fugen; Jing, Chen; and Jia, Xu (2022) "Autonomous Vehicle Path Tracking Control System Based on Energy Optimization," Journal of System Simulation: Vol. 34: Iss. 1, Article 18.
DOI: 10.16182/j.issn1004731x.joss.20-0655
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss1/18

First Page

163

Revised Date

2020-11-16

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0655

Last Page

169

CLC

TP391;U463

Recommended Citation

Wu Xiaolong, Xia Fugen, Chen Jing, Xu Jia. Autonomous Vehicle Path Tracking Control System Based on Energy Optimization[J]. Journal of System Simulation, 2022, 34(1): 163-169.

DOI

10.16182/j.issn1004731x.joss.20-0655