Motion control for EVs to improve ride comfort utilizing speed pattern considering driver´s command

This paper attempts to draw a general framework of generating speed patterns for motion control of EVs. Design of the speed pattern is related to improvement in ride comfort. The pattern is given as a polynomial function of time. An interesting feature of the proposed method is that all the three parameters can be determined arbitrarily and separately. Several experimental results show that application of speed pattern and determination of parameters considerably affect ride comfort.