Journal of System Simulation ›› 2022, Vol. 34 ›› Issue (1): 163-169.doi: 10.16182/j.issn1004731x.joss.20-0655

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Autonomous Vehicle Path Tracking Control System Based on Energy Optimization

Wu Xiaolong1, Xia Fugen2, Chen Jing1, Xu Jia1   

  1. 1. School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China;
    2. Chengdu Yiwei New Energy Automobile Co., Ltd., Chengdu 610015, China
  • Received:2020-09-03 Revised:2020-11-16 Online:2022-01-18 Published:2022-01-14

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 demand. The simulation results show that the control scheme has good tracking performance and energy saving potential.

Key words: autonomous vehicle, powertrain system, path following control, numerical optimization, continuously variable transmission

CLC Number: