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

Figure 6

Comparison of the two force-based cost functions on the straight to curve maneuver. (a) Path. (b) Road-wheel angle. (c) Wheel torques of mm. (d) Wheel torques of sq. (e) Longitudinal speed.

(a)

(b)

(c)

(d)

(e)