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2024 (English)In: 16th International Symposium on Advanced Vehicle Control: Proceedings of AVEC’24 – Society of Automotive Engineers of Japan, Springer Nature , 2024, p. 447-453Conference paper, Published paper (Refereed)
Abstract [en]
Autonomous driving and electrification make over-actuation technologies more feasible and advantageous. Integrating autonomous driving with over-actuation allows for the effective use of their respective strengths, e.g., for studying energy and time optimal control. To model AVs, several vehicle coordinate systems have been used, e.g., Cartesian, Frenet and spatial coordinates. The present study aims to achieve energy and time optimal control of autonomous vehicles by using Frenet frame modelling and over-actuation. This study enhances the existing Frenetbased modeling by incorporating double-track dynamic vehicle models and torque vectoring. The problem is formulated in an optimal control framework, with carefully designed cost function terms and constraints. Two control strategies are examined, one for minimising travel time and the other for jointly optimising energy consumption and travel time. The results indicate that by considering both energy and time in the formulation, the energy consumption can be apparently reduced while the travel time is merely slightly increased.
Place, publisher, year, edition, pages
Springer Nature, 2024
Keywords
Energy efficient control, Time optimal control, Frenet frame, Over-actuation, Autonomous vehicle, Dynamic model, Torque vectoring, Vehicle dynamics
National Category
Vehicle and Aerospace Engineering Robotics and automation
Identifiers
urn:nbn:se:kth:diva-358255 (URN)10.1007/978-3-031-70392-8_64 (DOI)001440460400064 ()2-s2.0-85206464527 (Scopus ID)
Conference
16th International Symposium on Advanced Vehicle Control, AVEC 2024, Milan, Italy, September 2–6, 2024
Note
Part of ISBN 978-3-031-70392-8
QC 20250110
2025-01-082025-01-082025-05-05Bibliographically approved