Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking
(2019) 9th IFAC Symposium on Advances in Automotive Control, AAC 2019 In IFAC-PapersOnLine 52(5). p.458-464- Abstract
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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/bab99131-ca19-4065-aa55-8c78860796bf
- author
- Fors, Victor ; Olofsson, Björn LU and Nielsen, Lars
- organization
- publishing date
- 2019-09-19
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- chassis control, departure prevention, optimal control, tire modeling, yaw control
- in
- IFAC-PapersOnLine
- volume
- 52
- issue
- 5
- pages
- 7 pages
- publisher
- IFAC Secretariat
- conference name
- 9th IFAC Symposium on Advances in Automotive Control, AAC 2019
- conference location
- Orléans, France
- conference dates
- 2019-06-23 - 2019-06-27
- external identifiers
-
- scopus:85076092360
- ISSN
- 2405-8963
- DOI
- 10.1016/j.ifacol.2019.09.073
- project
- ELLIIT LU P11: Online Optimization and Control towards Autonomous Vehicle Maneuvering
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- bab99131-ca19-4065-aa55-8c78860796bf
- date added to LUP
- 2020-01-02 14:51:02
- date last changed
- 2023-04-24 22:00:59
@article{bab99131-ca19-4065-aa55-8c78860796bf, abstract = {{<p>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.</p>}}, author = {{Fors, Victor and Olofsson, Björn and Nielsen, Lars}}, issn = {{2405-8963}}, keywords = {{chassis control; departure prevention; optimal control; tire modeling; yaw control}}, language = {{eng}}, month = {{09}}, number = {{5}}, pages = {{458--464}}, publisher = {{IFAC Secretariat}}, series = {{IFAC-PapersOnLine}}, title = {{Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking}}, url = {{http://dx.doi.org/10.1016/j.ifacol.2019.09.073}}, doi = {{10.1016/j.ifacol.2019.09.073}}, volume = {{52}}, year = {{2019}}, }