Design of Integrated Autonomous Driving Control System That Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability

This paper describes an integrated autonomous driving (AD) control system for an autonomous vehicle with four independent in-wheel motors (IWMs). The system consists of two parts: the AD controller and the chassis controller. These elements are functionally integrated to improve vehicle stability an...

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Bibliographic Details
Published in:Electronics (Basel) 2021-01, Vol.10 (2), p.144
Main Authors: Ahn, Taewon, Lee, Yongki, Park, Kihong
Format: Article
Language:English
Subjects:
Active control
Adaptive control
Algorithms
Autonomous vehicles
Chassis
Control equipment
Control stability
Controllers
Electric vehicles
Kinematics
Lane changing
Lateral control
Least squares method
Methods
Optimization
Path tracking
Predictive control
Proportional integral
Safety margins
Sliding mode control
Steering
Tracking control
Yawing moments
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