Integrated Vehicle Controller for Path Tracking with Rollover Prevention of Autonomous Articulated Electric Vehicle Based on Model Predictive Control

This paper presents an integrated controller for autonomous articulated electric vehicle (AAEV) path tracking and rollover prevention. The AAEV is vulnerable to due the characteristics of frame steering (AFS) mechanism, which shows improved maneuverability agility but not front wheel steering. In addition, ratio between height track width high, so prone rolling over. Therefore, proposed was designed achieve two goals, following reference managing velocity improve safety AAEV. Vehicle behavior modeled by a kinematic model with actuation delay. A local linearization used accuracy reduce computational load. Reference states position heading were determined follow prevent rollover. predictive control (MPC)-based state tracker optimize articulation angle rate longitudinal acceleration commands. simulation study conducted evaluate algorithm comparison base algorithms. S-shaped discontinuous curvature. Simulation results showed that reduces error load-transfer ratio.