Longitudinal Control of Electric Vehicles under One-Pedal Driving Conditions Considering Tire–Road Friction Capacity

Articles in Press

Document Type : Research Paper

Authors
Hadi Sazgar 1
Ali Keymasi-Khalaji 2
1 Department of Mechanical Engineering, Iranian Research Organization for Science and Technology (IROST), Tehran, Iran
2 Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran
10.22055/jacm.2025.48708.5441
Abstract
As electric vehicles become more widespread, precise motion control is increasingly vital. The present study introduces a robust and stable control algorithm designed for the longitudinal guidance of electric vehicles operating under "one-pedal driving" conditions. The algorithm explicitly accounts for tire saturation by setting controller gains based on maximum tire-road friction. It integrates speed and position controllers derived from Lyapunov theory, ensuring asymptotic stability. Obtained results across varied driving conditions confirm that the proposed controller maintains vehicle stability and achieves superior path-tracking accuracy compared to conventional feedback methods. Moreover, it produces smoother control torque, reducing powertrain wear and power consumption—key advantages for improving efficiency and durability in electric vehicles.
Keywords
Vehicle longitudinal dynamics
Speed control
Position control
Tire saturation limit
Robust control
Subjects

Publisher’s Note Shahid Chamran University of Ahvaz remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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Journal of Applied and Computational Mechanics

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Available Online from 27 November 2025