Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles

Figure 10

Comparison of the two cost functions in the inner loop. (a) Yaw rate. (b) Road-wheel angle. (c) Longitudinal velocity. (d) Wheel torques . (e) Wheel torques .

(a)

(b)

(c)

(d)

(e)