MPC-Based Obstacle Avoidance Path Tracking Control for Distributed Drive Electric Vehicles

A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision anti-rollover conditions, the planning proposed. The are output by Model Predictive Control (MPC) controller. torque distribution Through vertical force ratio wheel, realized. co-simulation platform established Carsim/Simulink. path, model predictive in this paper simulated. results show that for vehicles effectively meet requirements avoidance.