Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle 2012-01-0250
A two-passenger all-wheel-drive urban electric vehicle (AUTO21EV) with four in-wheel motors and an active steering system has been designed and developed at the University of Waterloo. In order to evaluate the handling and performance of such a vehicle in the design stage and analyze the effectiveness of different chassis control systems before implementing them in the real vehicle, the simulation of a large number of different open-loop and closed-loop test maneuvers is necessary. Thus, in the simulation environment, not only is a mathematical vehicle model needed for every test maneuver, but a driver model must also be designed to simulate the closed-loop test maneuvers. The role of the driver model is to calculate the control inputs required to successfully follow a predefined path. Such a driver model can be implemented as an inverse dynamics problem or by a representation of a driver that can look ahead, preview the path, and change the steering wheel angle and acceleration or brake pedal positions accordingly. In this regard, a path-following driver model is developed in this work with an advanced path previewing technique. In addition, a gain scheduling speed control driver model is developed for the AUTO21EV, which adjusts the drive torques of the wheels to minimize the deviation between the desired and actual vehicle speeds.
Citation: Jalali, K., Lambert, S., and McPhee, J., "Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle," SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 5(1):100-113, 2012, https://doi.org/10.4271/2012-01-0250. Download Citation
Kiumars Jalali, Steve Lambert, John McPhee
Univ of Waterloo
SAE 2012 World Congress & Exhibition
SAE International Journal of Passenger Cars - Electronic and Electrical Systems-V121-7, SAE International Journal of Passenger Cars - Electronic and Electrical Systems-V121-7EJ