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Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-4034-2868
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-1320-032x
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2019 (English)Conference paper, Published paper (Refereed)
Abstract [en]

A simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is still applicable for a vehicle with equal front-wheel angles.

Place, publisher, year, edition, pages
2019. Vol. 52, no 5, p. 458-464
Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 5
Keywords [en]
tire modeling, chassis control, yaw control, departure prevention, optimal control
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-160480DOI: 10.1016/j.ifacol.2019.09.073ISI: 000486629500074OAI: oai:DiVA.org:liu-160480DiVA, id: diva2:1359218
Conference
9th IFAC Symposium on Advances in Automotive Control (AAC)
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsWallenberg AI, Autonomous Systems and Software Program (WASP)
Note

Swedish Government; Wallenberg AI, Autonomous Systems and Software Program (WASP) - Knut and AliceWallenberg Foundation

Available from: 2019-10-08 Created: 2019-10-08 Last updated: 2019-10-23

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Fors, VictorOlofsson, BjörnNielsen, Lars

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf