Energy efficient cornering using over-actuation
(English)Manuscript (preprint) (Other academic)
This work deals with utilisation of active steering and propulsion on individual wheels in order to improve a vehicle’s energy efficiency during a double lane change manoeuvre at moderate speeds. Through numerical optimization, solutions have been found for how wheel steering angles and propulsion torques should be used in order to minimise the energy consumed by the vehicle travelling through the manoeuvre. The results show that, for the studied vehicle, the cornering resistance can be reduced by 10% compared to a standard vehicle configuration. Based on the optimization study, simplified algorithms to control wheel steering angles and propulsion torques that are more energy efficient are proposed. These algorithms are evaluated in a simulation study that includes a path tracking driver model and an energy efficiency improvement of 6-9% based on a combined rear axle steering and torque vectoring control during cornering is found. The results indicate that in order to improve energy efficiency for a vehicle driving in a non-safety-critical situation the force distribution should be shifted towards the front wheels.
Vehicle control, Energy efficiency, Over-actuation, Optimization
IdentifiersURN: urn:nbn:se:kth:diva-155918OAI: oai:DiVA.org:kth-155918DiVA: diva2:763388
QS 20142014-11-142014-11-142014-11-14Bibliographically approved