The 20th and 21st joint COTA International Conference of Transportation Professionals (CICTP 2020-21)

Abstract：A distributed drive electric vehicle model (4wid) was established with carsim , a controller use model predictive control combined with fuzzy control which take advantage of four wheels can be controlled independently was built in simulink . On the basis of tracking the given path, the controller can monitor and correct the oversteering and understeering in real time to improve vehicle steering stability. Compared with simulink, using carsim to model the whole vehicle has the advantages of high precision and fast speed，but carsim does not provide a suitable powertrain database for distributed drive vehicles. In this paper, the traditional vehicle powertrain system provided by carsim was adjusted to bulid a 4wid vehicle model which is controlled by mpc-fuzzy controller in simulink.Because of the characteristic called rolling optimization,the model predictive controll is very suitable for vehicle path tracking. However, it is often necessary to linearize the vehicle model at the reference point in the design process of the model predictive controller which will cause direction error and position error. In this paper,a fuzzy controller combines with vechle dynamics which taken the difference between the reference yaw angle and the carsim output yaw angle as the state variable is proposed .The simulation results show that the mpc-fuzzy controller can correct direction error and position error in vehicle movement which means the understeering and oversteering will be reduced and the vehicle steering stability was improved. Key words：electric vehicle ; 4wheel independent drive (4wid) ; yawing stability; CARSIM; model predictive control

CICTP