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Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking

Fors, Victor ; Olofsson, Björn LU and Nielsen, Lars (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.

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author
; and
organization
publishing date
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
2025-10-14 10:04:34
@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}},
}