Vehicle Path-Tracking Control with Dual-Motor SBW System

2023-01-0692

04/11/2023

Features
Event
WCX SAE World Congress Experience
Authors Abstract
Content
Improvement of vehicle path-tracking performance not only affects the vehicle driving safety and comfort but is also essential for autonomous driving technology. The current research focuses on vehicle path-tracking control study and application of dual-motor SBW system. The preview driver model is developed by considering the lateral and yaw tracking. MPC (model predictive control) and LQR (linear quadratic regulator) path following controllers are developed to compare the tracking control performance. A steer-by-wire (SBW) system of dual-motor configuration is designed with permanent magnet synchronous motor (PMSM) control scheme. Finally, the proposed control methods are verified with different driving cases, which shows that the system can effectively achieve small tracking errors in the simulation, and also can be applied in the future autonomous driving or advanced driver assistance system to maintain the lateral and yaw errors within a safe range during path-tracking.
Meta TagsDetails
DOI
https://doi.org/10.4271/2023-01-0692
Pages
6
Citation
Li, M., "Vehicle Path-Tracking Control with Dual-Motor SBW System," SAE Technical Paper 2023-01-0692, 2023, https://doi.org/10.4271/2023-01-0692.
Additional Details
Publisher
Published
Apr 11, 2023
Product Code
2023-01-0692
Content Type
Technical Paper
Language
English