Safety driving speed and lane keeping control for electric vehicle in variable curvature curve

This paper aims to analyze the safety of overactuated electric vehicle through variable curvature curve. By combined with previous general curve accident statistics, three kinds speed control targets can be presented, which is anti-skid, anti-roll and a longitudinal safety distance, to complete vehicle longitudinal dynamics control. Last, combining with the lane keeping system, fitting expectation path by the 5-spline function and using the model predictive control system, which vehicle front-wheel's angle can be achieved real-time correction, to complete vehicle lateral dynamics control. Through a combination of different curvatures curve, control simulation is conducted on vehicle dynamics model, and the feasibility of proposed methods is finally evaluated in Matlab/Simulink and CarSims. Besides, this paper will provide useful data as an accumulation of dynamic response a basis of further refinements in torque distribution control.