Integrated Longitudinal and Lateral Control System Design and Case Study on an Electric Vehicle
Joint Authors
Zhao, Jin
Fu, Haolong
Liu, Dongjie
Wang, Guangwei
El Kamel, Abdelkader
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-11-07
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper presents the design of an integrated longitudinal and lateral controller for autonomous vehicle and field tests with an electric vehicle.
First, the longitudinal design was studied which includes the spacing policy as the upper level controller and throttle and brake control as the lower level controller.
A safety spacing policy was proposed considering both the vehicle states and the vehicle capability.
A coordinated throttle and brake controller was also designed to ensure the vehicle pursuing the desired acceleration.
Second, a multimodel lateral controller was proposed which can perform the lane tracking and lane changing manoeuvres.
Then, an integrated control structure was proposed to manage both the longitudinal and lateral controller.
Finally, simulation and visualization works were carried out to validate the proposed solutions.
An electric vehicle experiment platform was also built, and field tests showed encouraging results.
American Psychological Association (APA)
Zhao, Jin& Fu, Haolong& Liu, Dongjie& Wang, Guangwei& El Kamel, Abdelkader. 2019. Integrated Longitudinal and Lateral Control System Design and Case Study on an Electric Vehicle. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1195342
Modern Language Association (MLA)
Zhao, Jin…[et al.]. Integrated Longitudinal and Lateral Control System Design and Case Study on an Electric Vehicle. Mathematical Problems in Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1195342
American Medical Association (AMA)
Zhao, Jin& Fu, Haolong& Liu, Dongjie& Wang, Guangwei& El Kamel, Abdelkader. Integrated Longitudinal and Lateral Control System Design and Case Study on an Electric Vehicle. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1195342
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195342