Experimental Electric Vehicle Platform for Autonomous Vehicle Development

The paper describes the architecture and control algorithms of the motion control system of an experimental electric vehicle, which is designed to implement and validate the control algorithms of an autonomous vehicle. The vehicle motion system includes a traction drive, a vehicle steering control system, and an electronically controlled brake. The paper also presents the procedure for setting the parameters of the servo controller for steering control of the vehicle and the results of a sample experiment. The subsystems for autonomous driving of an electric vehicle are currently in the implementation phase.