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

Figure 9

The cascade controller in work, following the path and tracking speed reference. (a) Path. (b) Heading. (c) Yaw rate. (d) Road-wheel angle. (e) Longitudinal velocity. (f) Wheel torques.

(a)

(b)

(c)

(d)

(e)

(f)