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Investigating Characteristics and Opportunities for Rear-Wheel Steering

Lind Jonsson, Oskar ; Balachandran, Arvind ; Zhou, Jian ; Olofsson, Björn LU and Nielsen, Lars (2024) 16th International Symposium on Advanced Vehicle Control p.151-157
Abstract
The potential of additional steering possibilities (like rear-wheel or all-wheel steering) is analyzed for critical situations to investigate possible safety improvements. For this purpose, a dynamic optimization problem is formulated to find the best possible maneuver. The optimization criterion is to maximize the entry speed into a constant radius 90°-curve. The optimization problem is solved for different steering topologies, and the results quantify the increase in maximum entry speed, highlighting the potential for safety improvements. Further, the optimal steering strategies are determined, and they show interesting characteristics like initial diagonal driving or, in other cases, a transition from initial out-of-phase steering to... (More)
The potential of additional steering possibilities (like rear-wheel or all-wheel steering) is analyzed for critical situations to investigate possible safety improvements. For this purpose, a dynamic optimization problem is formulated to find the best possible maneuver. The optimization criterion is to maximize the entry speed into a constant radius 90°-curve. The optimization problem is solved for different steering topologies, and the results quantify the increase in maximum entry speed, highlighting the potential for safety improvements. Further, the optimal steering strategies are determined, and they show interesting characteristics like initial diagonal driving or, in other cases, a transition from initial out-of-phase steering to in-phase steering. (Less)
Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
16th International Symposium on Advanced Vehicle Control. AVEC 2024. Lecture Notes in Mechanical Engineering
pages
151 - 157
publisher
Springer
conference name
16th International Symposium on Advanced Vehicle Control
conference location
Milan, Italy
conference dates
2024-09-02 - 2024-09-06
external identifiers
  • scopus:85206475979
ISBN
978-303170391-1
DOI
10.1007/978-3-031-70392-8_22
project
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
RobotLab LTH
language
English
LU publication?
yes
id
58ec5f56-66c9-49a4-bb1d-70d9a2e2455b
date added to LUP
2024-10-10 17:08:01
date last changed
2025-04-04 14:54:10
@inproceedings{58ec5f56-66c9-49a4-bb1d-70d9a2e2455b,
  abstract     = {{The potential of additional steering possibilities (like rear-wheel or all-wheel steering) is analyzed for critical situations to investigate possible safety improvements. For this purpose, a dynamic optimization problem is formulated to find the best possible maneuver. The optimization criterion is to maximize the entry speed into a constant radius 90°-curve. The optimization problem is solved for different steering topologies, and the results quantify the increase in maximum entry speed, highlighting the potential for safety improvements. Further, the optimal steering strategies are determined, and they show interesting characteristics like initial diagonal driving or, in other cases, a transition from initial out-of-phase steering to in-phase steering.}},
  author       = {{Lind Jonsson, Oskar and Balachandran, Arvind and Zhou, Jian and Olofsson, Björn and Nielsen, Lars}},
  booktitle    = {{16th International Symposium on Advanced Vehicle Control. AVEC 2024. Lecture Notes in Mechanical Engineering}},
  isbn         = {{978-303170391-1}},
  language     = {{eng}},
  pages        = {{151--157}},
  publisher    = {{Springer}},
  title        = {{Investigating Characteristics and Opportunities for Rear-Wheel Steering}},
  url          = {{http://dx.doi.org/10.1007/978-3-031-70392-8_22}},
  doi          = {{10.1007/978-3-031-70392-8_22}},
  year         = {{2024}},
}