Combined Wheel Torque And Steering Control Based On Model Predictive Controller Using A Simplified Tyre Model

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linear vehicle MP algorithm - Wiley

control of the autonomous vehicle. Although a non-linear tyre model is included in the trajectory planning in these studies, the applied two-wheel model can hardly present the non-linear dynamics performance of the innovative electric vehicle four-wheel-independent-steering (4WIS) and four-wheel-independent-

Integrated trajectory planning and control for obstacle

this study proposes the integrated trajectory planning and trajectory control method using a non-linear vehicle MP algorithm. To fully utilise the advantages of four-wheel-independent-steering and four-wheel-independent-driving vehicle, the MP algorithm is proposed based on four-wheel dynamics model and non-linear Dugoff tyre model.

Boyuan Li 1,2, Haiping Du , Weihua Li , Bangji Zhang

2.2 Vehicle tyre model Although the non-linear Magic Formula tyre model is widely applied in the non-linear MP algorithm, the Magic Formula tyre model is mainly based on the curve fitting results of a particular group of experimental data and this kind of model is hard to describe the general physical meaning of tyre.