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© 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

This article explores the application of the Espressif ESP32 System-On-Chip (SoC) for managing vehicle dynamics through real-time digital proportional–integral (PI-like) control. We present the development of advanced driving assistance algorithms for Active Front Steering (AFS) and Rear Torque Vectoring (RTV) on this cost-effective, commercially available embedded system. Using digital PI-like control algorithms designed for AFS and RTV, the primary ESP32 board receives and processes steering signals, executing a discrete-time control model of the vehicle dynamic to enable dynamic adjustments to steering and torque. To enhance simulation realism, a secondary ESP32 is employed to generate the steering signal, effectively mimicking a steer-by-wire system via its analog output ports. This configuration facilitates the simulation and evaluation of control algorithms in a realistic test environment, ensuring enhanced vehicle dynamic stability and maneuverability under various conditions. Additionally, simulations are conducted using MATLAB 2023a and CarSim 2017.1 to compare the efficacy and benefits of the implementation. Our objective is to establish a platform for evaluating discrete controllers capable of real-time vehicle operation. This methodology accelerates and reduces the cost of improving vehicle system stability and responsiveness, enabling the immediate verification and fine-tuning of control parameters as needed.

Details

Title
Real-Time Embedded Control of Vehicle Dynamics Using ESP32: A Discrete Nonlinear Approach
Author
Antonio Navarrete Guzmán 1   VIAFID ORCID Logo  ; Cuauhtémoc Acosta Lúa 2   VIAFID ORCID Logo  ; García-Rodríguez, J A 3   VIAFID ORCID Logo  ; Vidrios-Serrano, Carlos 4   VIAFID ORCID Logo  ; Meza-Aguilar, Marco A 5   VIAFID ORCID Logo 

 Department of Electrical and Electronic Engineering, National Technological of Mexico/Technological Institute of Tepic, Tepic 63175, Mexico; [email protected]; Academic Unit of Basic Sciences and Engineering of the Autonomous University of Nayarit, Tepic 63000, Mexico; [email protected] 
 Department of Technological Sciences, University of Guadalajara, La Cienega University Center, Av. Universidad No. 1115, Col. Lindavista, Ocotlán 47820, Mexico; Center of Excellence DEWS, Via Vetoio, Loc. Coppito, 67100 L’Aquila, Italy 
 CUSUR, Department of Computational Sciences and Technological Innovation, University of Guadalajara, Ciudad Guzmán 49000, Mexico; [email protected]; Department of Electrical and Electronics, National Technological of Mexico/Technological Institute of Ciudad Guzman, Ciudad Guzmán 49100, Mexico; [email protected] 
 Academic Unit of Basic Sciences and Engineering of the Autonomous University of Nayarit, Tepic 63000, Mexico; [email protected] 
 Department of Electrical and Electronics, National Technological of Mexico/Technological Institute of Ciudad Guzman, Ciudad Guzmán 49100, Mexico; [email protected] 
First page
3967
Publication year
2024
Publication date
2024
Publisher
MDPI AG
e-ISSN
20799292
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
3116611429
Copyright
© 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.