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Coordinated Steering Angle and Yaw Moment Distribution to Increase Vehicle Regenerative Energy in Autonomous Driving

Publication Type
Conference Paper
Book Title
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Publication Date
Page Numbers
3083 to 3088
Publisher Location
New Jersey, United States of America
Conference Name
IEEE 25th International Conference on Intelligent Transportation Systems (ITSC 2022)
Conference Location
Macau, China
Conference Sponsor
Conference Date

This paper presents an algorithm that increases vehicle regenerative braking energy recovery in autonomous driving by leveraging connected and automated vehicle (CAV) technology. Autonomous vehicles may select different maneuvers to increase kinetic energy recovery during deceleration. In the proposed algorithm, the cornering resistance that influences regenerative energy and energy consumption is defined in terms of steering angle during regenerative braking. In particular, a model predictive controller that distributes control inputs of the vehicle is adopted to reduce the cornering resistance for increasing regenerative braking torque. Utilizing the information from CAV technology, this algorithm enables the vehicle to safely conduct braking while increasing its regenerative energy recovery. CarSim-Simulink joint simulations demonstrate the effectiveness of the proposed method.