MPC-Based Obstacle Avoidance Path Tracking Control for Distributed Drive Electric Vehicles

Abstract

A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision and anti-rollover conditions, the path planning of obstacle avoidance is proposed. The front wheel steering angle and additional yaw moment are output by the Model Predictive Control (MPC) controller. The wheel torque is distributed by the torque distribution controller. Through additional yaw moment and the vertical force ratio of the wheel, the obstacle avoidance path tracking control is realized. The co-simulation platform is established with Carsim/Simulink. The obstacle avoidance path, model predictive controller and torque distribution controller designed in this paper are simulated. The results show that obstacle avoidance path and tracking controller for the distributed drive electric vehicles effectively meet the requirements of safe obstacle avoidance.

Keywords

• distributed driving electric vehicles
• polynomial path planning
• model predictive control
• torque allocation
• obstacle avoidance path tracking