The field of autonomous driving vehicles is growing and expanding rapidly. However, the control systems for autonomous driving vehicles still pose challenges, since vehicle speed and steering angle are always subject to strict constraints in vehicle dynamics. The optimal control action for vehicle speed and steering angular velocity can be obtained from the online objective function, subject to the dynamic constraints of the vehicle’s physical limitations, the environmental conditions, and the surrounding obstacles. This paper presents the design of a nonlinear model predictive controller subject to hard and softened constraints. Nonlinear model predictive control subject to softened constraints provides a higher probability of the controller finding the optimal control actions and maintaining system stability. Different parameters of the nonlinear model predictive controller are simulated and analyzed. Results show that nonlinear model predictive control with softened constraints can considerably improve the ability of autonomous driving vehicles to track exactly on different trajectories.

This paper presents the modelling and calculations for a hybrid electric vehicle (HEV) in parallel configuration, including a main electrical driving motor (EM), an internal combustion engine (ICE), and a starter/generator motor. The modelling equations of the HEV include vehicle acceleration and jerk, so that simulations can investigate the vehicle drivability and comfortability with different control parameters. A model predictive control (MPC) scheme with softened constraints for this HEV is developed. The new MPC with softened constraints shows its superiority over the MPC with hard constraints as it provides a faster setpoint tracking and smoother clutch engagement. The conversion of some hard constraints into softened constraints can improve the MPC stability and robustness. The MPC with softened constraints can maintain the system stability, while the MPC with hard constraints becomes unstable if some input constraints lead to the violation of output constraints.

This paper reviews the latest studies of hybrid electric vehicles (HEVs) on modelling, controls, and energy management. HEV dynamics, formulas, calculations, and schemes of vehicle parts, such as battery, converter, electric motor, generator, and HEV Simulink models, are presented. Moreover, simulations of the propulsion operation, regenerative braking system, and vehicle dynamics are conducted. A comprehensive HEV model is built that is simulated on different driving cycles of Federal Test Procedure 75 (FTP75), New York City Cycle (NYCC), Highway Fuel Economy Test (HWFET), and Extra Urban Driving Cycle (EUDC). Data achieved from these simulations were analysed and tested with several fuel regression models to determine the best fuel regression estimation for HEV fuel consumption on the basis of their weights and tire radiuses. The best fuel regression equation is obtained with a determination coefficient R-squared greater than 99%. Lastly, the optimal model and other HEVs models are simulated on different driving cycles to prove that the fuel consumption of our best-fit regression model is the best.

Automatic clutch engagement control is essential for all kinds of vehicle power transmissions. The controllers for vehicle power transmissions may include model-based or model-free approaches and must provide high transmission efficiency, fast engagement and low jerk. Most vehicle automatic transmissions are using torque converters with transmission efficiencies up to 96%. This paper presents the use of fuzzy logic control for a dry clutch in parallel hybrid electric vehicles. This controller can minimize the loss of power transmission since it can offer a higher transmission efficiency, up to 99%, with faster engagement, lower jerk and, thus, higher driving comfortability with lower cost. Fuzzy logic control is one of the model-free schemes. It can be combined with AI algorithms, neuro networks and virtual reality technologies in future development. Fuzzy logic control can avoid the complex modelling while maintaining the system’s high stability amid uncertainties and imprecise information. Experiments show that fuzzy logic can reduce the clutch slip and vibration. The new system provides 2% faster engagement speed than the torque converter and eliminates 70% of noise and vibration less than the manual transmission clutch.