Control of electric vehicles with autonomous corner modules: implementation aspects and fault handling
Journal article, 2008
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.
tyre constraints
autonomous corner module
adhesion potential
ACM
electric vehicle
electric in-wheel motor
vehicle control
force allocation
fault handling
Author
Mats Jonasson
Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems
Oskar Wallmark
Chalmers
International Journal of Vehicle Systems Modelling and Testing
1745-6436 (ISSN) 1745-6444 (eISSN)
Vol. 3 3 213-228Subject Categories
Vehicle Engineering