Exploiting over-actuation for improved active safety and energy efficiency of autonomous electric vehicles

Wenliang Zhang

KTH Royal Institute of Technology

Tuesday, May 23, 2023, 11:00

SYSCOP Meeting Space, Georges-Koehler Alee 102

Automation and electrification are two transformative trends in the automotive industry. They are expected to bring about various benefits such as improved road safety and energy efficiency.

In the first part of the talk, I will present active safety-related studies by exploring over-actuated vehicle platforms. Over-actuation refers to the case when there are more motion actuators than the degrees of freedom to be controlled, i.e., the longitudinal, lateral and yaw movements of the vehicle. The presented studies aim to explore how over-actuation can improve path-following and yaw-stability performance of autonomous electric vehicles in critical manoeuvres and investigate the associated state estimation and trajectory planning problems. The applied methods include moving horizon estimation, optimal control problem, and model predictive control.

In the second part of the talk, I will briefly introduce a newly initiated project that aims to study multi-criteria (e.g., energy efficiency, safety and comfort) motion control strategies for autonomous electric vehicles.