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Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction

Fors, Victor ; Olofsson, Björn LU and Nielsen, Lars (2018) 14th International Symposium on Advanced Vehicle Control (AVEC)
Abstract
From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed.The controller exploits that the optimal solution tends to be close to the friction limit of the tires.This observation allows for simplifications that enable the use of a proportional feedback control in the control loop,which provides a smooth trajectory promising for realization in an actual control system.The controller is in comparison with an open-loop numerical optimal control solution shown to exhibit promising performance at low computational cost in a challenging turn scenario.
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author
; and
publishing date
type
Contribution to conference
publication status
published
subject
conference name
14th International Symposium on Advanced Vehicle Control (AVEC)
conference location
Beijing, China
conference dates
2018-07-16 - 2018-07-20
project
ELLIIT LU P11: Online Optimization and Control towards Autonomous Vehicle Maneuvering
language
English
LU publication?
no
id
ffd54146-b482-4129-9126-f79669176912
alternative location
http://urn.kb.se/resolve?urn=urn%3Anbn%3Ase%3Aliu%3Adiva-149899
date added to LUP
2023-01-28 20:54:16
date last changed
2023-01-30 10:05:37
@misc{ffd54146-b482-4129-9126-f79669176912,
  abstract     = {{From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed.The controller exploits that the optimal solution tends to be close to the friction limit of the tires.This observation allows for simplifications that enable the use of a proportional feedback control in the control loop,which provides a smooth trajectory promising for realization in an actual control system.The controller is in comparison with an open-loop numerical optimal control solution shown to exhibit promising performance at low computational cost in a challenging turn scenario.}},
  author       = {{Fors, Victor and Olofsson, Björn and Nielsen, Lars}},
  language     = {{eng}},
  title        = {{Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction}},
  url          = {{http://urn.kb.se/resolve?urn=urn%3Anbn%3Ase%3Aliu%3Adiva-149899}},
  year         = {{2018}},
}