Path Tracking of Full Drive-by-Wire Electric Vehicle based on Model Prediction Control

Developments of wire control and sensing technologies give more possibilities to automatic vehicle. For this, a path tracking controller is proposed to full drive-by-wire electric vehicle (FWEV). Method of model prediction control (MPC) is utilized to design path tracking controller, for ensuing dynamic stability with minimally sacrificing tracking performance, dynamic limit defined by stability phase plane is introduced as optimal constraints. Control method for realizing the desired motion with FWEV is designed subsequently. Finally, simulation results shown that this suggested path tracking controller can ensure the dynamic stability without compromising tracking accuracy.