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University of Washington

1. Lu, Jing. Dynamic Control of Formula - Towards Driverless.

Degree: 2021, University of Washington

This paper presents vehicle dynamic control algorithms for a dual-motor RWD electric racing car of UW Formula Motorsports. Team-31 vehicle was designed for human driver only, so the team proposed an PID (proportional-integral-derivative) based yaw rate and slip ratio control on dynamic bicycle or four-wheel vehicle dynamics model. The algorithm aimed to improve acceleration behavior in straight line event and cornering maneuverability. It will also serve as the low-level stability control for the future autonomous racing car. Team-32 aimed to compete in FSG driverless events in 2022 ~ 2023, so the control system should merge into autonomous driving hardware platform with a MPC (model predictive control) based trajectory tracking algorithm. Vehicle behavior and control effectiveness were analyzed using MATLAB Simulink, and hopefully would be validated in HIL (Hardware-in-loop) setup or RC car in the future. In Section 2: Vehicle handling and performance, the author explained the derivation of vehicle lateral and longitudinal dynamics model, critical parameters for cornering behavior evaluation and their effects on turn stability. Analysis of a traditional torque vectoring and traction control strategy was explained under steady states condition. In section 3: Model predictive control for autonomous driving, an optimization-based trajectory tracking method was introduced based on kinematic vehicle model. The controller behavior was evaluated under simulated competition events. Section 4: Hardware implementation covered key points in modeling and configurating critical actuators and sensors for vehicle test preparation. Advisors/Committee Members: Emery, Ashley F. (advisor).

Subjects/Keywords: autonomous; driverless; formula; torque vectoring; traction control; vehicle dynamics; Mechanical engineering; Automotive engineering; Systems science; Mechanical engineering

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Lu, J. (2021). Dynamic Control of Formula - Towards Driverless. (Thesis). University of Washington. Retrieved from http://hdl.handle.net/1773/46843

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Lu, Jing. “Dynamic Control of Formula - Towards Driverless.” 2021. Thesis, University of Washington. Accessed April 22, 2021. http://hdl.handle.net/1773/46843.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Lu, Jing. “Dynamic Control of Formula - Towards Driverless.” 2021. Web. 22 Apr 2021.

Vancouver:

Lu J. Dynamic Control of Formula - Towards Driverless. [Internet] [Thesis]. University of Washington; 2021. [cited 2021 Apr 22]. Available from: http://hdl.handle.net/1773/46843.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lu J. Dynamic Control of Formula - Towards Driverless. [Thesis]. University of Washington; 2021. Available from: http://hdl.handle.net/1773/46843

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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