Abstract
Many challenges still need to be overcome in the context of autonomous vehicles. These vehicles would be over-actuated and are expected to perform coupled maneuvers. In this paper, we first discuss the development of a global coupled vehicle model, and then we outline the control strategy that we believe should be applied in the context of over-actuated vehicles. A gain-scheduled H ∞ controller and an optimization-based Control Allocation algorithms are proposed. High-fidelity co-simulation results show the efficiency of the proposed control logic and the new possibilities that could offer. We expect that both car manufacturers and equipment suppliers would join forces to develop and standardize the proposed control architecture for future passenger cars.
Highlights
The automotive sector is on the move
The rest of this paper is structured as follows: We start in Section 2 by developing a global vehicle model that can help control engineers study the dynamic couplings of the vehicle
We still do not know the future hardware design of passenger cars, and because the design can differ from a car manufacturer to another, here, we develop a new detailed global vehicle modelling
Summary
The automotive sector is on the move. Each day, we get closer and closer to the revolution of autonomous vehicles, which is one of the most complex systems. An adaptive robust controller is needed, especially when different embedded systems are involved making the vehicle over-actuated In this context, in [6], a Relative Gain Array (RGA) study has been conducted to evaluate the system couplings near the crossover frequency using a simplified four-wheeled vehicle equipped. Couplings were not managed at the high-level control as two different vehicle models have been considered. A new approach is rather investigated where a relatively complex robust high-level controller is used based on a relatively complex four-wheeled vehicle model with an optimal coordination strategy. The rest of this paper is structured as follows: We start in Section 2 by developing a global vehicle model that can help control engineers study the dynamic couplings of the vehicle.
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