Integrated vehicle control of in-wheel electric vehicle

Abstract

The paper presents a control method for in-wheel electric vehicles, integrating several vehicle components such as steering, braking and propulsion system. The aim is to design a cruise control system with trajectory tracking ability. First a control oriented vehicle model is introduced and the trajectory and velocity tracking problem is formulated. Next the robust LPV (Linear Parameter Varying) trajectory tracking cruise control design is introduced.

In the implementation of the integrated control system, the limitations of the actuators has to be considered as well as the road surface adhesion. The operation of the proposed system is demonstrated in CarSim simulation environment with maneuvering the vehicle along a racetrack with altering speed limits.