Control of electric vehicles with autonomous corner modules: implementation aspects and fault handling
2008 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 3, no 3, 213-228 p.Article in journal (Refereed) Published
In this paper, vehicle dynamics for electric vehicles equipped with in-wheel motors and individual steering actuators are studied adopting the principles of optimal tyre-force allocation. A simple method for describing the constraints owing to tyre and actuator limitations is described. The control architecture is evaluated by investigating its response to realistic fault conditions. The evaluation demonstrates that the control architecture's ability to ensure vehicle stability generally is good. However, during major faults and extreme driving situations, vehicle stability is not maintained unless the constraints in the optimisation process used for tyre-force allocation are adapted to the specific fault.
Place, publisher, year, edition, pages
2008. Vol. 3, no 3, 213-228 p.
ACM; Adhesion potential; Autonomous corner module; Electric in-wheel motor; Electric vehicle; Fault handling; Force allocation; Tyre constraints; Vehicle control; Vehicle dynamics
IdentifiersURN: urn:nbn:se:kth:diva-6771DOI: 10.1504/IJVSMT.2008.023839ScopusID: 2-s2.0-63149174243OAI: oai:DiVA.org:kth-6771DiVA: diva2:11575
QC 201007212007-02-142007-02-142013-12-04Bibliographically approved