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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Autonomous Vehicle Path Tracking Control System Based On Energy Optimization, Xiaolong Wu, Fugen Xia, Chen Jing, Xu Jia
Autonomous Vehicle Path Tracking Control System Based On Energy Optimization, Xiaolong Wu, Fugen Xia, Chen Jing, Xu Jia
Journal of System Simulation
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 …